INTERVAL TYPE-2 FUZZY CONTROLLER BASED ON SLIDING MODE CONTROL FOR ROBOT ARM DRIVEN BY ARTIFICIAL MUSCLES

A. Rezoug, M. Hamerlain, B. Tondu, M. Tadjine

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.

References

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Paper Citation


in Harvard Style

Rezoug A., Hamerlain M., Tondu B. and Tadjine M. (2011). INTERVAL TYPE-2 FUZZY CONTROLLER BASED ON SLIDING MODE CONTROL FOR ROBOT ARM DRIVEN BY ARTIFICIAL MUSCLES . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ANNIIP, (ICINCO 2011) ISBN 978-989-8425-74-4, pages 461-469. DOI: 10.5220/0003615604610469


in Bibtex Style

@conference{anniip11,
author={A. Rezoug and M. Hamerlain and B. Tondu and M. Tadjine},
title={INTERVAL TYPE-2 FUZZY CONTROLLER BASED ON SLIDING MODE CONTROL FOR ROBOT ARM DRIVEN BY ARTIFICIAL MUSCLES},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ANNIIP, (ICINCO 2011)},
year={2011},
pages={461-469},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003615604610469},
isbn={978-989-8425-74-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ANNIIP, (ICINCO 2011)
TI - INTERVAL TYPE-2 FUZZY CONTROLLER BASED ON SLIDING MODE CONTROL FOR ROBOT ARM DRIVEN BY ARTIFICIAL MUSCLES
SN - 978-989-8425-74-4
AU - Rezoug A.
AU - Hamerlain M.
AU - Tondu B.
AU - Tadjine M.
PY - 2011
SP - 461
EP - 469
DO - 10.5220/0003615604610469