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Robotics 2013, 2(2), 66-91; doi:10.3390/robotics2020066
Article

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

1
,
1,* , 2
 and
1
1 School of Electrical Engineering and Computer Science, University of Ottawa, 800 King Edward Avenue, Ottawa, ON K1N 6N5, Canada 2 School of Engineering, University of Guelph, Guelph, ON N1G 2W1, Canada
* Author to whom correspondence should be addressed.
Received: 1 April 2013 / Revised: 4 May 2013 / Accepted: 13 May 2013 / Published: 21 May 2013
(This article belongs to the Special Issue Intelligent Robots)
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Abstract

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.
Keywords: type-2 fuzzy control; uncertain systems; robot manipulators; flexible structures; adaptive control type-2 fuzzy control; uncertain systems; robot manipulators; flexible structures; adaptive control
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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Chaoui, H.; Gueaieb, W.; Biglarbegian, M.; Yagoub, M.C.E. Computationally Efficient Adaptive Type-2 Fuzzy Control of Flexible-Joint Manipulators. Robotics 2013, 2, 66-91.

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