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Interval Fuzzy Type-2 Sliding Mode Control Design of Six-DOF Robotic Manipulator

Author

Listed:
  • Yassine Bouteraa

    (College of Computer Engineering and Sciences, Prince Sattam Bin Abdulaziz University, Al-Kharj 11942, Saudi Arabia
    Control and Energy Management Laboratory (CEM Lab.), Ecole Nationale d’Ingenieurs de Sfax (ENIS) & Institut Superieur de Biotechnologie de Sfax (ISBS), University of Sfax, Sfax 3038, Tunisia)

  • Khalid A. Alattas

    (Department of Computer Science and Artificial Intelligence, College of Computer Science and Engineering, University of Jeddah, Jeddah 23218, Saudi Arabia)

  • Obaid Alshammari

    (Department of Electrical Engineering, College of Engineering, University of Ha’il, Hail 2440, Saudi Arabia)

  • Sondess Ben Aoun

    (Department of Computer Engineering, College of Computer Science and Engineering, University of Ha’il, Hail 2440, Saudi Arabia)

  • Mohamed Amin Regaieg

    (Lab-STA, LR11ES50, National School of Engineering of Sfax, University of Sfax, Sfax 3038, Tunisia)

  • Saleh Mobayen

    (Graduate School of Intelligent Data Science, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliou, Yunlin 640301, Taiwan)

Abstract

The remarkable features of hybrid SMC assisted with fuzzy systems supplying parameters of the controller have led to significant success of these control approaches, especially in the control of multi-input and multi-output nonlinear systems. The development of type-1 fuzzy systems to type-2 fuzzy systems has improved the performance of fuzzy systems due to the ability to model uncertainties in the expression of expert knowledge. Accordingly, in this paper, the basic approach of designing and implementing the interval type-2 fuzzy sliding mode control was proposed. According to the introduced systematic design procedure, complete optimal design of a type-2 fuzzy system structure was presented in providing sliding mode control parameters by minimizing tracking error and control energy. Based on the proposed method, the need for expert knowledge as the main challenge in designing fuzzy systems was eliminated. In addition, the possibility to limit the control outputs to deal with actuators’ saturation was made available. The control method was implemented on a six-degree-of-freedom robot manipulator that was exposed to severe external disturbances, and its performance was compared to a type-1 fuzzy system as well as to the conventional SMC. The achievements revealed improved performance of the combined control system of fuzzy sliding mode type-2 in comparison with its control counterparts.

Suggested Citation

  • Yassine Bouteraa & Khalid A. Alattas & Obaid Alshammari & Sondess Ben Aoun & Mohamed Amin Regaieg & Saleh Mobayen, 2022. "Interval Fuzzy Type-2 Sliding Mode Control Design of Six-DOF Robotic Manipulator," Mathematics, MDPI, vol. 10(24), pages 1-52, December.
    • Handle: RePEc:gam:jmathe:v:10:y:2022:i:24:p:4835-:d:1008446
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    References listed on IDEAS

    as
    1. Mai The Vu & Khalid A. Alattas & Yassine Bouteraa & Reza Rahmani & Afef Fekih & Saleh Mobayen & Wudhichai Assawinchaichote, 2022. "Optimized Fuzzy Enhanced Robust Control Design for a Stewart Parallel Robot," Mathematics, MDPI, vol. 10(11), pages 1-36, June.
    2. Mojtaba Ahmadieh Khanesar & David Branson, 2022. "Robust Sliding Mode Fuzzy Control of Industrial Robots Using an Extended Kalman Filter Inverse Kinematic Solver," Energies, MDPI, vol. 15(5), pages 1-17, March.
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