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

Fayek HM 1 , Elamvazuthi I 2 , Perumal N 3 , Venkatesh B 4

Affiliations 

  • 1 Department of Electrical and Electronic Engineering, Universiti Teknologi PETRONAS, 31750 Tronoh, Perak, Malaysia. Electronic address: haytham.fayek@ieee.org
  • 2 Department of Electrical and Electronic Engineering, Universiti Teknologi PETRONAS, 31750 Tronoh, Perak, Malaysia. Electronic address: irraivan_elamvazuthi@petronas.com.my
  • 3 Department of Electrical and Electronic Engineering, Universiti Teknologi PETRONAS, 31750 Tronoh, Perak, Malaysia
  • 4 Department of Electrical and Computer Engineering, Ryerson University, Toronto, Ontario, Canada M5B 2K3
ISA Trans, 2014 Sep;53(5):1583-91.
PMID: 24962934 DOI: 10.1016/j.isatra.2014.06.001

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.

* Title and MeSH Headings from MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine.

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