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Computationally Efficient Adaptive Type-2 Fuzzy Control of Flexible-Joint Manipulators

Author(s): Hicham Chaoui | Wail Gueaieb | Mohammad Biglarbegian | Mustapha C. E. Yagoub

Journal: Robotics
ISSN 2218-6581

Volume: 2;
Issue: 2;
Start page: 66;
Date: 2013;
Original page

Keywords: type-2 fuzzy control | uncertain systems | robot manipulators | flexible structures | adaptive control

In this paper, we introduce an adaptive type-2 fuzzy logic controller (FLC) for flexible-joint manipulators with structured and unstructured dynamical uncertainties. Simplified interval fuzzy sets are used for real-time efficiency, and internal stability is enhanced by adopting a trade-off strategy between the manipulator’s and the actuators’ velocities. Furthermore, the control scheme is independent of the computationally expensive noisy torque and acceleration signals. The controller is validated through a set of numerical simulations and by comparing it against its type-1 counterpart. The ability of the adaptive type-2 FLC in coping with large magnitudes of uncertainties yields an improved performance. The stability of the proposed control system is guaranteed using Lyapunov stability theory.
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