Intelligent backstepping sliding-mode control using recurrent interval type 2 fuzzy neural networks for a ball-riding robot

This paper presents an intelligent backstepping sliding-mode control using recurrent interval type 2 fuzzy neural networks (RIT2FNN) for motion control of a ball-riding robot. After brief description of the dynamic model of the robot with viscous and Coulomb frictions, a backstepping sliding-mode control using hierarchical aggregated sliding control method and RIT2FNN is proposed to accomplish robust trajectory tracking of the robot in the presence of mass variations, terrain-dependent viscous and Coulomb frictions. Computer simulations are conducted to illustrate the effectiveness of the proposed control method.