Type-2 fuzzy logic control for underactuated truss-like robotic finger

• Published in: 2016 35th Chinese Control Conference (CCC) pp. 3727 - 3732
• Main Authors: Lu, Hongqian, Ding, Shuchen, Huang, Xianlin, Ban, Xiaojun
• Format: Conference Proceeding Journal Article
• Language: English
• Published: TCCT 01.07.2016
• Subjects: Bars; Conferences; deformable trusses; Fingers; Fuzzy control; Fuzzy logic; Fuzzy sets; Intervals; Mathematical model; Mechanical systems; nonlinear system; Robotics; Robots; type-2 fuzzy logic control; Uncertainty; underactuated robot
• ISSN: 2161-2927; 1934-1768
• DOI: 10.1109/ChiCC.2016.7553934

Underactuated mechanical systems have their own difficulties within the control criterion. As a particular and complex underactuated mechanical system, underactuated truss-like robotic finger(UTRF) is studied by establishing its dynamic model. The control problems include high nonlinearity, model inaccuracy and uncertainties. Type-2 fuzzy logic control method is supposed to be a proper way to solve these problems, because fuzzy logic control itself does not depend on an accurate model of the controlled object, and type-2 fuzzy logic control is able to handle uncertainties. The basic principle of type-2 fuzzy logic control is then analyzed. Moreover, an interval type-2 fuzzy logic controller is designed for UTRF to accomplish the goal of stabilization in its equilibrium point. Simulation result shows that the designed interval type-2 fuzzy logic controller is correct and effective.