Paper Info
Title
Interval Type-2 Fuzzy Controller Based On Sliding Mode Control For Robot Arm Driven By Artificial Muscles
Abstract
In this paper, we propose the application of an Interval Type-2 Fuzzy Sliding Mode Controller IT2FSMC for 2 degrees of freedom robot arm actuated by pneumatic artificial muscles (PAM). A robust IT2FL controller based on the Lyapunov stability condition of sliding mode control SMC was adopted. The objectives of the control are: (1) to avoid the modelling problem in this type of robot, (2) to attenuate the chattering effect of the SMC, (3) to reduce the rules number of the fuzzy control, (4) to guarantee the stability and the robustness of the system and (5) to handle the uncertainties of the system. First joints of robot are approximated by adequately linear differential equations; next we present the proposed IT2FSM approach of control. In the last, this method has experimented and compared to an interval type-2 fuzzy controller IT2FC in order to demonstrate its effectiveness.
Year
Venue
Keywords
2011
ICINCO (1)
Artificial muscles, Type-2 fuzzy logic, Sliding mode control, Fuzzy sliding mode control
Field
DocType
Citations 
Robotic arm,Control theory,Control theory,Computer science,Fuzzy logic,Real-time computing,Artificial muscle,Sliding mode control
Conference
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
A. Rezoug111.38
M. Hamerlain24111.28
Bertrand Tondu37815.13
M. Tadjine423911.07