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

• Published in: Engineering applications of artificial intelligence Vol. 123; p. 106329
• Main Authors: Kumar, Anupam, Raj, Ritu, Kumar, Amit, Verma, Bharat
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.08.2023
• Subjects: Robot manipulator; Load disturbances; Interval type-2 fuzzy logic control; GWO algorithm; Coupling FLC; Parameter uncertainties; External noise
• ISSN: 0952-1976; 1873-6769
• DOI: 10.1016/j.engappai.2023.106329

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. •The design and implementation of novel MIT2FLC control approach for controlling Robot manipulator with variable payload.•To obtain the optimal values of the control parameters like scaling factors, the recent GWO algorithm is used.•The performance comparison of controllers is done with conventional MT1FLC, T1FLC and PID control technique.•The robustness testing is also done for varying parameters, random noise and external disturbances.