Abstract:
In this paper, an automatic control method based on type-2 fuzzy sliding mode control
for a mobile arm robot is presented. These types of robots have very complex dynamics due to the
uncertainty of the arm parameters and the mobility of their base, so conventional control methods
do not provide a suitable solution. The proposed method proves convergence with Lyapunov
theory, and its convergence is mathematically guaranteed. A type-2 fuzzy system is responsible for
approximating unmodulated dynamics, nonlinear terms, and uncertain parameters. In simulations,
the performance of the proposed method with different situations, including uncertainty in arm
parameters, uncertainty in mobile robot parameters (arm robot base), uncertainty in load, as well as
indeterminacy in modeling have been applied. The comparison with two conventional controllers
shows the efficiency and superiority of the proposed method.
