S. Abolfazl. Mokhtari - Flight and Engineering Department Imam Ali University Tehran, Iran
Kazem. Imani - Flight and Engineering Department Imam Ali University Tehran, Iran
A.A Naderi - Flight and Engineering Department Imam Ali University Tehran, Iran

In this paper, a type-۲ fuzzy sliding mode control (T۲-FSMC) is suggested for the trajectory tracking of a cylindrical robotic arm. By using Whale Optimization Algorithm (WOA), the parameters of the proposed controller are optimized. For robustness against external disturbance and parameter uncertainty, sliding mode control (SMC) is proposed. Type-۲ fuzzy systems are designated by type-۲ membership functions that can be very useful to handle uncertainties and minimize their effects. To improve the effectiveness of the SMC and type-۲ fuzzy logic, can combine them and benefit from the advantages of both methods. Also, by utilizing the Lyapunov stability theorem closed-loop system stability is proved. The simulation results present the merits of the suggested controller.

Cylindrical robotic arm, Type-۲ fuzzy logic, Sliding mode control, Whale Optimization Algorithm