Type-2 Fuzzy Logic Control of a Flexible-Joint Manipulator

Authors:
Hicham Chaoui;Wail Gueaieb
Affiliations:
Machine Intelligence, Robotics and Mechatronics (MIRaM) Laboratory, School of Information Technology and Engineering (SITE), University of Ottawa, Ottawa, Canada;Machine Intelligence, Robotics and Mechatronics (MIRaM) Laboratory, School of Information Technology and Engineering (SITE), University of Ottawa, Ottawa, Canada
Venue:
Journal of Intelligent and Robotic Systems
Year:
2008

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Abstract

A type-2 fuzzy logic controller (FLC) is proposed in this article for robot manipulators with joint elasticity and structured and unstructured dynamical uncertainties. The proposed controller is based on a sliding mode control strategy. To enhance its real-time performance, simplified interval fuzzy sets are used. The efficiency of the control scheme is further enhanced by using computationally inexpensive input signals independently of the noisy torque and acceleration signals, and by adopting a trade off strategy between the manipulator's position and the actuators' internal stability. The controller is validated through a set of numerical experiments and by comparing it against its type-1 counterpart. It is shown through these experiments the higher performance of the type-2 FLC in compensating for larger magnitudes of uncertainties with severe nonlinearities.