Design of a novel mixed interval type-2 fuzzy logic controller for 2-DOF robot manipulator with payload

This paper investigates a novel coupling-based mixed interval type-2 fuzzy logic controller (MIT2FLC) for trajectory tracking problems of highly nonlinear and complex robot manipulator plants. The major impediment for these types of plants is coupling between the robotic links at the time of operation. In addition, the performances of these plants are adversely affected by parameter uncertainties, random noise and external disturbances. Therefore, the MIT2FLC approach with an additional degree of freedom in the membership functions is proposed to efficiently deal with the problem of uncertainty and provide robust performance. The Grey wolf optimization (GWO) is implemented to calculate the optimal parameters of the proposed controller. For checking the performance, the MIT2FLC approach is compared with its type-1 fuzzy counterparts, namely mixed type-1 fuzzy logic controller (MT1FLC), type-1 fuzzy logic controller (T1FLC) and PID controllers. Robustness analysis of the proposed controller is investigated for external disturbances, varying system parameters, and random noise.

Automated summary

This paper proposes a novel coupling-based mixed interval type-2 fuzzy logic controller (MIT2FLC) for trajectory tracking problems of complex robot manipulator plants. The controller addresses the issue of coupling between robotic links during operation and effectively deals with uncertainty and provides robust performance. The Grey wolf optimization (GWO) is utilized to calculate the optimal parameters of the controller. Comparative analysis is conducted with type-1 fuzzy logic controllers (MT1FLC, T1FLC) and PID controllers to evaluate the performance of the MIT2FLC approach. Robustness analysis is performed for external disturbances, varying system parameters, and random noise.