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Computational Intelligence and Neuroscience
Volume 2017, Article ID 9640849, 11 pages
Research Article

Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator

1Republic of Korea Naval Logistics Command, P.O. Box 602, Hyeon-dong, Jinhae-gu, Changwon-si, Gyeongsangnam-do 645-798, Republic of Korea
2Department of Computer Engineering, Gachon University, Bokjeong-dong, Sujeong-gu, Seongnam-si, Gyeonggi-do 461-701, Republic of Korea
3Department of Electronic Engineering, Incheon National University, Incheon 402-752, Republic of Korea
4Department of Digital Electronics, Inha Technical College, 100 Inha-ro, Nam-Gu, Incheon 402-752, Republic of Korea

Correspondence should be addressed to Jong-Wook Park; and Dong W. Kim;

Received 31 October 2016; Revised 14 December 2016; Accepted 9 January 2017; Published 8 February 2017

Academic Editor: Manuel Graña

Copyright © 2017 Ji-Hwan Hwang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In this paper, advanced interval type-2 fuzzy sliding mode control (AIT2FSMC) for robot manipulator is proposed. The proposed AIT2FSMC is a combination of interval type-2 fuzzy system and sliding mode control. For resembling a feedback linearization (FL) control law, interval type-2 fuzzy system is designed. For compensating the approximation error between the FL control law and interval type-2 fuzzy system, sliding mode controller is designed, respectively. The tuning algorithms are derived in the sense of Lyapunov stability theorem. Two-link rigid robot manipulator with nonlinearity is used to test and the simulation results are presented to show the effectiveness of the proposed method that can control unknown system well.