Automatic Control of a Mobile Manipulator Robot Based on Type-2 Fuzzy Sliding Mode Technique

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.