{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,22]],"date-time":"2026-06-22T15:34:54Z","timestamp":1782142494400,"version":"3.54.5"},"reference-count":32,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2023,2,11]],"date-time":"2023-02-11T00:00:00Z","timestamp":1676073600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Ministry of Science and Technology of China","award":["2019YFE0112400"],"award-info":[{"award-number":["2019YFE0112400"]}]},{"name":"Ministry of Science and Technology of China","award":["2021CXGC011204"],"award-info":[{"award-number":["2021CXGC011204"]}]},{"DOI":"10.13039\/100012905","name":"Department of Science and Technology of Shandong Province","doi-asserted-by":"publisher","award":["2019YFE0112400"],"award-info":[{"award-number":["2019YFE0112400"]}],"id":[{"id":"10.13039\/100012905","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100012905","name":"Department of Science and Technology of Shandong Province","doi-asserted-by":"publisher","award":["2021CXGC011204"],"award-info":[{"award-number":["2021CXGC011204"]}],"id":[{"id":"10.13039\/100012905","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Symmetry"],"abstract":"<jats:p>In this paper, the control of robotic manipulators (RMs) is studied. The RMs are widely used in industry. The RMs are multi-input-multi-output systems, and their dynamics are highly nonlinear. To improve the accuracy in practice, it is impossible to ignore the influence of nonlinear dynamics and the interaction of inputs\u2013outputs. Non-structural uncertainties such as friction, disturbance, and unmodeled dynamics are other challenges of these systems. Recently, type-3 (T3) fuzzy logic systems (FLSs) have been suggested that result in better accuracy in a noisy environment. In this paper, a new control idea on the basis of T3-FLSs is suggested. T3-FLSs are used to estimate the dynamics of RMs and the symmetrical perturbations. The T3-FLSs are learned using online laws to enhance the stability. To eliminate the effect of the interconnection of inputs and estimation errors, a compensator is developed. By several simulations, the superiority of the suggested controller is demonstrated.<\/jats:p>","DOI":"10.3390\/sym15020483","type":"journal-article","created":{"date-parts":[[2023,2,13]],"date-time":"2023-02-13T04:07:19Z","timestamp":1676261239000},"page":"483","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":25,"title":["Type-3 Fuzzy Control of Robotic Manipulators"],"prefix":"10.3390","volume":"15","author":[{"given":"Songhua","family":"Xu","sequence":"first","affiliation":[{"name":"Hangzhou Vocational & Technical College, Hangzhou 310018, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1695-9481","authenticated-orcid":false,"given":"Chunwei","family":"Zhang","sequence":"additional","affiliation":[{"name":"Multidisciplinary Center for Infrastructure Engineering, Shenyang University of Technology, Shenyang 110870, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5173-4563","authenticated-orcid":false,"given":"Ardashir","family":"Mohammadzadeh","sequence":"additional","affiliation":[{"name":"Multidisciplinary Center for Infrastructure Engineering, Shenyang University of Technology, Shenyang 110870, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2023,2,11]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Mancilla, A., Garc\u00eda-Valdez, M., Castillo, O., and Merelo-Guerv\u00f3s, J.J. 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