This paper deals with the trajectory tracking control problem of a planar underactuated tendon-driven truss-like manipulator (UTTM) by using fuzzy logic control methods, including type-1 fuzzy and interval type-2 fuzzy approaches. The UTTM is a novel designed underactuated robot that excels in manipulating in harsh environments due to its tendon-driven parallelogram structure. This unique structure, however, poses challenges for UTTM's trajectory tracking controller design, including underactuation, excessive nonlinearity, parameter uncertainty, and so on. To solve these problems, a fuzzy logic-based approach is proposed. First, the dynamic model of UTTM is transformed into a partially linearized form. Then a type-1 fuzzy controller is designed according to a linear quadratic regulator controller for the linearized system. Then by blurring the membership functions of type-1 fuzzy controllers, an interval type-2 fuzzy logic controller is designed, aiming at dealing with uncertainties. The proposed type-1 and interval type-2 fuzzy logic controllers are validated through simulations, and made comparisons with each other, especially when the system is involved with uncertainties. Simulation results show that the interval type-2 fuzzy-based trajectory tracking controller provides better performance than the type-1 counterpart in terms of tracking accuracy and capacity against uncertainties.

中文翻译：

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基于1型和区间2型模糊逻辑方法的欠驱动腱驱动桁架机械手轨迹跟踪控制

本文采用模糊逻辑控制方法，包括1型模糊和区间2型模糊方法，研究了平面欠驱动腱驱动桁架机械手（UTTM）的轨迹跟踪控制问题。UTTM 是一种新颖设计的欠驱动机器人，由于其肌腱驱动的平行四边形结构，它在恶劣环境中的操控表现出色。然而，这种独特的结构给 UTTM 的轨迹跟踪控制器设计带来了挑战，包括驱动不足、非线性过度、参数不确定等。为了解决这些问题，提出了一种基于模糊逻辑的方法。首先，将 UTTM 的动态模型转换为部分线性化的形式。然后针对线性化系统，根据线性二次调节器控制器设计了1型模糊控制器。然后通过模糊1型模糊控制器的隶属函数，设计了一种区间2型模糊逻辑控制器，以处理不确定性。所提出的类型 1 和区间类型 2 模糊逻辑控制器通过仿真进行了验证，并相互比较，特别是当系统涉及不确定性时。仿真结果表明，基于区间 2 型模糊的轨迹跟踪控制器在跟踪精度和抗不确定性方面的性能优于 1 型控制器。特别是当系统涉及不确定性时。仿真结果表明，基于区间 2 型模糊的轨迹跟踪控制器在跟踪精度和抗不确定性方面的性能优于 1 型控制器。特别是当系统涉及不确定性时。仿真结果表明，基于区间 2 型模糊的轨迹跟踪控制器在跟踪精度和抗不确定性方面的性能优于 1 型控制器。