scholarly journals Hybrid robust controller based on interval type 2 fuzzy neural network and higher order sliding mode for robotic manipulators

2019 ◽  
Vol 32 (02) ◽  
pp. 106-125
Author(s):  
S. Mohammadrezaei Nodeh ◽  
M. H. Ghasemi ◽  
H.R. Mohammadi Daniali
Keyword(s):  
Neural Network ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Self Regulation ◽  
Higher Order ◽  
Central Type ◽  
The Neural Network ◽  
Fuzzy Neural ◽  
Interval Type

Industrial arms should be able to perform their duties in environments where unpredictable conditions and perturbations are present. In this paper, controlling a robotic manipulator is intended under significant external perturbations and parametric uncertainties. Type-2 fuzzy logic is an appropriate choice in the face of uncertain environments, for various reasons, including utilizing fuzzy membership functions. Also, using the neural network (NN) can increase robustness of the controller. Although neural network does not basically need to build its type-2 fuzzy rules, the initial rules based on sliding surface of higher order sliding mode controller (HOSMC) can improve the system's performance. In addition, self-regulation feature of the controller, which is based on the existence of the neural network in the central type-2 fuzzy controller block, increases the robustness of the method even more. Effective performance of the proposed controller (IT2FNN-HOSMC) is shown under various perturbations in numerical simulations.

Sliding mode incremental learning algorithm for interval type-2 Takagi–Sugeno–Kang fuzzy neural networks

2012 ◽  
Vol 3 (3) ◽  
pp. 179-188 ◽  
Author(s):  
Sevil Ahmed ◽  
Nikola Shakev ◽  
Andon Topalov ◽  
Kostadin Shiev ◽  
Okyay Kaynak
Keyword(s):  
Neural Networks ◽  
Incremental Learning ◽  
Sliding Mode ◽  
Learning Algorithm ◽  
Fuzzy Neural Networks ◽  
Fuzzy Neural ◽  
Interval Type ◽  
Takagi Sugeno

System Identification Based on Dynamical Training for Recurrent Interval Type-2 Fuzzy Neural Network

2013 ◽  
pp. 188-205
Author(s):  
Tsung-Chih Lin ◽  
Yi-Ming Chang ◽  
Tun-Yuan Lee
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
System Identification ◽  
Nonlinear System ◽  
Fuzzy Neural Networks ◽  
Training Data ◽  
Fuzzy Neural ◽  
Interval Type ◽  
Recurrent Interval

This paper proposes a novel fuzzy modeling approach for identification of dynamic systems. A fuzzy model, recurrent interval type-2 fuzzy neural network (RIT2FNN), is constructed by using a recurrent neural network which recurrent weights, mean and standard deviation of the membership functions are updated. The complete back propagation (BP) algorithm tuning equations used to tune the antecedent and consequent parameters for the interval type-2 fuzzy neural networks (IT2FNNs) are developed to handle the training data corrupted by noise or rule uncertainties for nonlinear system identification involving external disturbances. Only by using the current inputs and most recent outputs of the input layers, the system can be completely identified based on RIT2FNNs. In order to show that the interval IT2FNNs can handle the measurement uncertainties, training data are corrupted by white Gaussian noise with signal-to-noise ratio (SNR) 20 dB. Simulation results are obtained for the identification of nonlinear system, which yield more improved performance than those using recurrent type-1 fuzzy neural networks (RT1FNNs).

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