Chaoui, HichamGueaieb, WailBiglarbegian, MohammadYagoub, Mustapha2015-03-192015-03-192013-052013-05Robotics 2013 , 2 , 66-91; doi:10.3390/robotics2020066http://hdl.handle.net/10393/32146http://dx.doi.org/10.3390/robotics2020066In this paper, we introduce an adaptive type-2 fuzzy logic controller (FLC) for flexible-joint manipulators with structured and unstructured dynamical uncertainties. Simplified interval fuzzy sets are used for real-time efficiency, and internal stability is enhanced by adopting a trade-off strategy between the manipulator’s and the actuators’ velocities. Furthermore, the control scheme is independent of the computationally expensive noisy torque and acceleration signals. The controller is validated through a set of numerical simulations and by comparing it against its type-1 counterpart. The ability of the adaptive type-2 FLC in coping with large magnitudes of uncertainties yields an improved performance. The stability of the proposed control system is guaranteed using Lyapunov stability theory.entype-2 fuzzy controluncertain systemsrobot manipulatorsflexible structuresadaptive controlArticle10.3390/robotics2020066