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

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...

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Bibliographic Details
Published in:ISA transactions 2014-09, Vol.53 (5), p.1583-1591
Main Authors: Fayek, H.M., Elamvazuthi, I., Perumal, N., Venkatesh, B.
Format: Article
Language:English
Subjects:
Control systems
Design engineering
Fuzzy control
Fuzzy logic
Fuzzy Logic Control
Genetic algorithms
Intelligent control
Optimization
Real time
Robotic arm
Swarm intelligence
Type-2 Fuzzy Logic
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Summary: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. •A systematic design procedure for an Optimal Type-2 Fuzzy Logic Controller (OT2FLC) is proposed.•PSO and GA were used in the proposed computationally-efficient design procedure.•The proposed controller is implemented in real-time to control a servomotor.•A comparative analysis was carried out using various type-2 defuzzification methods.•Performance and computational cost of the OT2FLC were compared against a type-1 counterpart and a PI controller.
ISSN:0019-0578
1879-2022
DOI:10.1016/j.isatra.2014.06.001