This paper presents an adaptive interval type-2 fuzzy sliding mode controller for a class of unknown nonlinear discrete-time systems with training data corrupted by noise or rule uncertainties involving external disturbances. Adaptive interval type-2 fuzzy control scheme and sliding mode control (SMC) approach are incorporated to implement the main objective of controlling the plant to track a ...

This paper deals with the design of adaptive fuzzy sliding-mode controllers for the T-S fuzzy model based on the Lyapunov function. It is shown that the Lyapunov function can be used to establish fuzzy sliding surfaces by solving a set of linear matrix inequalities (LMIs). The design of the fuzzy sliding surfaces and the adaptive fuzzy sliding-mode controllers is proposed. The adaptive mechanis...

The motion control problem for the finger of a humanoid robot hand is investigated. First, the index finger of the human hand is dynamically modelled as a kinematic chain of cylindrical links. During construction of the model, special attention is given to determining bone dimensions and masses that are similar to the real human hand. After the kinematic and dynamic analysis of the model, in or...

In the field of control, various control methodologies and strategies have been devised, tested and implemented in process control and other such control applications. Favourite examples of controllers are proportional, Integral and derivative in parallel and/ or series combinations so far. Controller tuning is also an important aspect of process control. Speaking on control techniques, there a...

In this paper, an indirect adaptive fuzzy sliding mode control scheme is designed for hybrid electric bus. The trajectory tracking control for stopping the bus in a bus station is proposed. The control strategies of regenerative braking in the hybrid electric bus add the control difficulty of the longitudinal braking system. Its nonlinearities are estimated by adaptive fuzzy method and projecti...

this paper deals with a globally convergent adaptive and sliding mode control of a cart-pole inverted pendulum for trajectory tracking in the presence of a bounded measurement noise and parameter uncertainty. two kinds of controllers have been used for evaluation of tracking error in presence of a bounded noise; as a result, we want to compare that at what time we can see the convergence of tra...

in this paper, a new robust controller based on geometric homogeneity and adaptive integral sliding mode is proposed for a class of second order systems. the upper bound of the system disturbances is not required. fully unknown parameters have been considered in the described model and its finite–time convergence to zero equilibrium point is proved. moreover, the controller is developed in the ...

This study presents a sliding-mode neural-network (SMNN) control system for the tracking control of an n rigid-link robot manipulator to achieve high-precision position control. The aim of this study is to overcome some of the shortcomings of conventional robust controllers such as a model-based adaptive controller requires the system dynamics in detail; the fuzzy rule learning scheme has a lat...