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In this paper, an interval type-2 fuzzy kinematic control (IT2-FKC) combined with an interval type-2 adaptive fuzzy sliding-mode dynamic control (IT2-AFSMDC) are proposed for controlling the trajectory-tracking of a nonholonomic wheeled mobile robot (WMR). Firstly, an interval type-2 fuzzy logic controller designed for the kinematic model of the WMR is introduced, and then the IT2-AFSMDC is developed...
In this paper, a redesign of an adaptive fuzzy sliding mode cerebellar model articulation controller (FSCMAC) is presented. Adaptation laws for proposed FSCMAC are used to estimate the system models for approximating an ideal controller, and then a compensated controller is appended to guarantee the system stability for eliminating the effect of the approximation error. The redesign of FSCMAC is used...
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