Robust adaptive fuzzy type-2 fast terminal sliding mode control of robot manipulators in attendance of actuator faults and payload variation

• Date: 2025
• Main Authors: Rahali, H., Zeghlache, S., Cherif, B. D. E., Benyettou, L., Djerioui, A.
• Format: Article
• Language: English
• Published: National Technical University "Kharkiv Polytechnic Institute" and Аnatolii Pidhornyi Institute of Power Machines and Systems of NAS of Ukraine 2025
• Subjects: robot manipulator; type-2 fuzzy system; fast terminal sliding mode control; adaptive control
• Online Access: https://eie.khpi.edu.ua/article/view/307034
• Journal Title: Electrical Engineering & Electromechanics

Introduction. This study presents a robust control method for the path following problem of the PUMA560 robot. The technique is based on the Adaptive Fuzzy Type-2 Fast Terminal Sliding Mode Control (AFT2FTSMC) algorithm and is designed to handle actuator faults, uncertainties (such as payload change...