Paper Info
Title
Type-2 fuzzy logic control for underactuated truss-like robotic finger with comparison of a type-1 case.
Abstract
Underactuated mechanical systems have their own difficulties within the control criterion. As a particular and complex underactuated mechanical system, underactuated truss-like robotic finger(UTRF) is studied by establishing its dynamic model. The control problems include high nonlinearity, model inaccuracy and uncertainties. Type-2 fuzzy logic control method is supposed to be a proper way to solve these problems, because fuzzy logic control itself does not depend on an accurate model of the controlled object, and type-2 fuzzy logic control is able to handle uncertainties. Based on a brief introduction on type-2 fuzzy logic systems, an interval type-2 fuzzy logic controller is designed for UTRF to accomplish the goal of stabilization in its equilibrium point. As an extension of the type-1 fuzzy, the performances of the proposed controller are compared with the type-1 one case to show the advantages of the type-2 fuzzy. Simulation results show that the designed interval type-2 fuzzy logic controller is correct and effective and has better performances than that of type-1 fuzzy control.
Year
DOI
Venue
2017
10.3233/JIFS-161538
JOURNAL OF INTELLIGENT & FUZZY SYSTEMS
Keywords
Field
DocType
Underactuated robot,nonlinear system,fuzzy logic system,type-2 fuzzy logic control
Robotic finger,Fuzzy logic control,Truss,Control theory,Artificial intelligence,Underactuation,Mathematics,Machine learning
Journal
Volume
Issue
ISSN
33
4
1064-1246
Citations 
PageRank 
References 
3
0.38
9
Authors
5
Name
Order
Citations
PageRank
Shuchen Ding130.38
Xianlin Huang27714.77
Xiaojun Ban36611.77
Hongqian Lu4177.21
Hongyang Zhang5152.10