A HIERARCHICAL DESIGN APPROACH FOR INTERVAL TYPE-2 FUZZY CONTROLLERS APPLIED TO MOBILE ROBOTS

Miguel A. Melgarejo, Carlos M. Munoz, and Leonardo Leottau

Keywords

Type2 fuzzy logic, type2 fuzzy controllers, fuzzy control, mobile robots, control systems

Abstract

This paper presents a novel hierarchical design approach for interval type-2 fuzzy logic controllers applied to mobile robots. The approach achieves an optimum interval type-2 fuzzy controller when uncertainty is present in the control loop, which is associated with the use of non-deterministic models in the design process. The method consists of three steps: The first one is intended to obtain a stable interval type-2 fuzzy controller as an initial design. The second one optimizes the control system response without uncertainty by using a type-1 fuzzy controller derived from type-2 design. The third one optimizes the control system behaviour through an interval type-2 version of the type-1 fuzzy controller regarding the uncertainty sources affecting the control loop. The method is successfully validated in two different mobile robots. Simulation results for both problems show that the interval type-2 fuzzy controllers designed using this approach always exhibit better performance than optimal type-1 fuzzy controllers when different kinds of uncertainties affect the robot platform.

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