Affiliations: School of Astronautics, Harbin Institute of Technology, Harbin, Heilongjiang, P.R. China
Correspondence:
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Corresponding author. Xianlin Huang, School of Astronautics, Harbin Institute of Technology, Harbin, Heilongjiang, P.R. China. Tel.: +86 45186412204; Fax: +86 45186413771; E-mail: xlinhuang@hit.edu.cn.
Note: [1] This work is supported by National Natural Science Foundation (NNSF) of China under Grant 51275107.
Abstract: 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. Based on a brief introduction on type-2 fuzzy logic systems, an interval type-2 fuzzy logic controller is designed for UTRF to accomplish the goal of stabilization in its equilibrium point. As an extension of the type-1 fuzzy, the performances of the proposed controller are compared with the type-1 one case to show the advantages of the type-2 fuzzy. Simulation results show that the designed interval type-2 fuzzy logic controller is correct and effective and has better performances than that of type-1 fuzzy control.
