A controller based on Optimal Type-2 Fuzzy Logic: systematic design, optimization and real-time implementation
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Published on: October 14, 2017
H M Fayek1, I Elamvazuthi1, N Perumal1
1Department of Electrical and Electronic Engineering, Universiti Teknologi PETRONAS, 31750 Tronoh, Perak, Malaysia.
Abstract:
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׳s superiority; which is evident in handling uncertainty and imprecision induced in the system by means of noise and disturbances.
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