Automatic Control of a Mobile Manipulator Robot Based on Type-2 Fuzzy Sliding Mode Technique
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 su...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-10-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/10/20/3773 |
| _version_ | 1827617423995437056 |
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| author | Xin Xu Ahmed Shaker Marwa S. Salem |
| author_facet | Xin Xu Ahmed Shaker Marwa S. Salem |
| author_sort | Xin Xu |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-09T09:45:45Z |
| format | Article |
| id | doaj.art-61e42ae8d4f24b89ae613712b29e66f2 |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-09T09:45:45Z |
| publishDate | 2022-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-61e42ae8d4f24b89ae613712b29e66f22023-12-02T00:36:03ZengMDPI AGMathematics2227-73902022-10-011020377310.3390/math10203773Automatic Control of a Mobile Manipulator Robot Based on Type-2 Fuzzy Sliding Mode TechniqueXin Xu0Ahmed Shaker1Marwa S. Salem2Department of Mechanical Engineering, Taiyuan Institute of Technology, Taiyuan 030008, ChinaEngineering Physics and Mathematics Department, Faculty of Engineering, Ain Shams University, Cairo 11566, EgyptDepartment of Computer Engineering, College of Computer Science and Engineering, University of Ha’il, Ha’il 55211, Saudi ArabiaIn 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.https://www.mdpi.com/2227-7390/10/20/3773automatic controlmobile robottype-2 fuzzysliding mode technique |
| spellingShingle | Xin Xu Ahmed Shaker Marwa S. Salem Automatic Control of a Mobile Manipulator Robot Based on Type-2 Fuzzy Sliding Mode Technique Mathematics automatic control mobile robot type-2 fuzzy sliding mode technique |
| title | Automatic Control of a Mobile Manipulator Robot Based on Type-2 Fuzzy Sliding Mode Technique |
| title_full | Automatic Control of a Mobile Manipulator Robot Based on Type-2 Fuzzy Sliding Mode Technique |
| title_fullStr | Automatic Control of a Mobile Manipulator Robot Based on Type-2 Fuzzy Sliding Mode Technique |
| title_full_unstemmed | Automatic Control of a Mobile Manipulator Robot Based on Type-2 Fuzzy Sliding Mode Technique |
| title_short | Automatic Control of a Mobile Manipulator Robot Based on Type-2 Fuzzy Sliding Mode Technique |
| title_sort | automatic control of a mobile manipulator robot based on type 2 fuzzy sliding mode technique |
| topic | automatic control mobile robot type-2 fuzzy sliding mode technique |
| url | https://www.mdpi.com/2227-7390/10/20/3773 |
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