This paper presents control design based on an Interval Type-2 Fuzzy Logic (IT2FL) for the trajectory tracking of 3-RRR (3-Revolute-Revolute-Revolute) planar parallel robot. The design of Type-1 Fuzzy Logic Controller (T1FLC) is also considered for the purpose of comparison with the IT2FLC in terms of robustness and trajectory tracking characteristics. The scaling factors in the output and input of T1FL and IT2FL controllers play a vital role in improving the performance of the closed-loop system. However, using trial-and-error procedure for tuning these design parameters is exhaustive and hence an optimization technique is applied to achieve their optimal values and to reach an improved performance. In this study, Social Spider Optimization (SSO) algorithm is proposed as a useful tool to tune the parameters of proportional-derivative (PD) versions of both IT2FLC and T1FLC. Two scenarios, based on two square desired trajectories (with and without disturbance), have been tested to evaluate the tracking performance and robustness characteristics of proposed controllers. The effectiveness of controllers have been verified via numerical simulations based on MATLAB/SIMULINK programming software, which showed the superior of IT2FLC in terms of robustness and tracking errors.

本文提出了一种基于区间2型模糊逻辑（IT2FL）的3-RRR（3-Revolute-Revolute-Revolute）平面并联机器人轨迹跟踪的控制设计。还考虑了类型1模糊逻辑控制器（T1FLC）的设计，以便在鲁棒性和轨迹跟踪特性方面与IT2FLC进行比较。T1FL和IT2FL控制器的输出和输入中的比例因子在提高闭环系统性能方面起着至关重要的作用。但是，使用试错法来调整这些设计参数是非常详尽的，因此应用了一种优化技术来实现其最佳值并达到改进的性能。在这项研究中，提出了社会蜘蛛优化（SSO）算法作为调整IT2FLC和T1FLC的比例微分（PD）版本参数的有用工具。已经测试了基于两个平方期望轨迹（有无扰动）的两种情况，以评估所提出控制器的跟踪性能和鲁棒性。控制器的有效性已经通过基于MATLAB / SIMULINK编程软件的数值模拟得到了验证，该软件在鲁棒性和跟踪误差方面显示出IT2FLC的优越性。