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First, a non-zero time-varying parameter is installed in IT2 FLS, then a property of universal approximation of IT2 fuzzy logic system (FLS) is proposed, where the non-zero time-varying parameter has the relation with the approximation precision of IT2 FLS. Second, for the unknown compounded disturbance, a disturbance observer is designed to estimate it and is integrated into the IT2 adaptive control. To improve the approximation accuracies, the novel IT2 FLSs with non-zero parameter are utilized to compensate for the uncertain nonlinear terms with including the uncertainties and fault components in the system, the fault-tolerant control with some adaptive laws are established using the stability theory of barrier Lyapunov function (BLF), where the approximation accuracies can be modified online using the provided adaptive laws with neglecting the number of fuzzy rules, the computation burden of the proposed control is greatly reduced because of a small number of updated laws. Finally, the simulation results are compared with those of several existing control methods, which confirms the validity of the designed control approach.<\/jats:p>","DOI":"10.1177\/01423312241282059","type":"journal-article","created":{"date-parts":[[2024,11,16]],"date-time":"2024-11-16T07:48:56Z","timestamp":1731743336000},"page":"277-299","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Type-2 fuzzy adaptive robust fault-tolerant control for manipulators with disturbance observer"],"prefix":"10.1177","volume":"48","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0329-3334","authenticated-orcid":false,"given":"Yongqing","family":"Fan","sequence":"first","affiliation":[{"name":"School of Automation, and Xi\u2019an Key Laboratory of Advanced Control and Intelligent Process, Xi\u2019an University of Posts &amp; Telecommunications, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yanlong","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Automation, and Xi\u2019an Key Laboratory of Advanced Control and Intelligent Process, Xi\u2019an University of Posts &amp; Telecommunications, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhen","family":"Li","sequence":"additional","affiliation":[{"name":"School of Automation, and Xi\u2019an Key Laboratory of Advanced Control and Intelligent Process, Xi\u2019an University of Posts &amp; Telecommunications, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2024,11,16]]},"reference":[{"key":"e_1_3_2_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2020.3030078"},{"key":"e_1_3_2_3_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2017.07.029"},{"key":"e_1_3_2_4_1","doi-asserted-by":"publisher","DOI":"10.1515\/9781400833344"},{"key":"e_1_3_2_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2012.2212196"},{"key":"e_1_3_2_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2022.3226873"},{"key":"e_1_3_2_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2021.3090708"},{"key":"e_1_3_2_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2021.3130303"},{"key":"e_1_3_2_9_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.asr.2024.03.024"},{"key":"e_1_3_2_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2017.2694410"},{"key":"e_1_3_2_11_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2024.117508"},{"issue":"3","key":"e_1_3_2_12_1","first-page":"1981","article-title":"Interval type-2 FNN-based quantized tracking control for hypersonic flight vehicles with prescribed performance","volume":"51","author":"Gao Y","year":"2021","unstructured":"Gao Y, Liu J, Wang Z, et al. 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