jaya-based optimal type-2 fuzzy sliding mode controller design for a cylindrical robotic arm

This study presents an optimal jaya-based interval type-2 fuzzy high-order sliding mode control (it2-fsmc) for the trajectory tracking of a cylindrical robotic arm. sliding mode control (smc) is offered to ensure robustness against external disturbance and parameter uncertainty. chattering is a common issue in classic sliding mode controls that can harm actuators. therefore, the high-order sliding mode control (hsmc) method is developed to improve control performance and reduce chattering effects. type-2 fuzzy systems are added to the control system with interval membership functions that can be very useful in handling uncertainties and minimizing their effects. a type-2 fuzzy system is combined with the hsmc controller called type-2 high-order sliding mode control (t2hsmc) to improve controlling performance. moreover, to make the best choice for parameters of the fuzzy membership functions and sliding surface gains, the jaya optimization algorithm is offered to optimally tune the parameters. hence, the jaya optimization algorithm is added to the control system, and consequently, the proposed controller has been named optimal type-2 high-order sliding mode control (ot2hsmc). also, by utilizing the lyapunov stability theorem, the stability of the closed-loop system is proved. finally, the simulation results for the cylindrical robotic arm present the advantage of the suggested controller against disturbance and parameter uncertainties, and the merits of the proposed controller in decreasing chattering effects are illustrated.