A controller based on Optimal Type-2 Fuzzy Logic: Systematic design, optimization and real-time implementation

作者：Fayek H M; Elamvazuthi I^*; Perumal N; Venkatesh B

来源：ISA Transactions, 2014, 53(5): 1583-1591.

DOI：10.1016/j.isatra.2014.06.001

• Intelligent control
• Type-2 Fuzzy Logic
• Fuzzy Logic Control
• Optimization
• Robotic arm

A computationally-efficient systematic procedure to design an Optimal Type-2 Fuzzy Logic Controller (OT2FLC) is proposed. The main scheme is to optimize the gains of the controller using Particle Swarm Optimization (PSO), then optimize only two parameters per type-2 membership function using Genetic Algorithm (GA). The proposed OT2FLC was implemented in real-time to control the position of a DC servomotor, which is part of a robotic arm. The performance judgments were carried out based on the Integral Absolute Error (IAE), as well as the computational cost. Various type-2 defuzzification methods were investigated in real-time. A comparative analysis with an Optimal Type-1 Fuzzy Logic Controller (OT1FLC) and a PI controller, demonstrated OT2FLC%26apos;s superiority; which is evident in handling uncertainty and imprecision induced in the system by means of noise and disturbances.

• 出版日期2014-9