Automatic Control of a Mobile Manipulator Robot Based on Type-2 Fuzzy Sliding Mode Technique

In this paper, an automatic control method based on type-2 fuzzy sliding mode for a mobile arm robot is presented. These types of robots have very complex dynamics due to the uncertainty parameters and mobility their base, so conventional methods do not provide suitable solution. The proposed proves convergence with Lyapunov theory, its mathematically guaranteed. A system responsible approximating unmodulated dynamics, nonlinear terms, uncertain parameters. simulations, performance different situations, including in parameters, (arm base), load, as well indeterminacy modeling been applied. comparison two controllers shows efficiency superiority method.