@inproceedings{b92b527e9c9646799c57438bccc9070c,
title = "Type-2 fuzzy logic control for underactuated truss-like robotic finger",
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. The basic principle of type-2 fuzzy logic control is then analyzed. Moreover, an interval type-2 fuzzy logic controller is designed for UTRF to accomplish the goal of stabilization in its equilibrium point. Simulation result shows that the designed interval type-2 fuzzy logic controller is correct and effective.",
keywords = "deformable trusses, nonlinear system, type-2 fuzzy logic control, underactuated robot",
author = "Hongqian Lu and Shuchen Ding and Xianlin Huang and Xiaojun Ban",
note = "Publisher Copyright: {\textcopyright} 2016 TCCT.; 35th Chinese Control Conference, CCC 2016 ; Conference date: 27-07-2016 Through 29-07-2016",
year = "2016",
month = aug,
day = "26",
doi = "10.1109/ChiCC.2016.7553934",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "3727--3732",
editor = "Jie Chen and Qianchuan Zhao and Jie Chen",
booktitle = "Proceedings of the 35th Chinese Control Conference, CCC 2016",
address = "美国",
}