Double-Input Interval Type-2 Fuzzy Logic Controllers: Analysis and Design

TY - GEN

T1 - Double-Input Interval Type-2 Fuzzy Logic Controllers: Analysis and Design

AU - Sarabakha, Andriy

AU - Fu, Changhong

AU - Kayacan, Erdal

PY - 2017/8/23

Y1 - 2017/8/23

N2 - A significant number of investigations of type-1 and type-2 fuzzy logic controllers have revealed their exceptional ability to capture uncertainties in complex and nonlinear systems, particularly in real-time control applications. However, regardless of being type-1 or type-2, fuzzy logic controller design is still a complicated task due to the lack of a closed form solution of the output and an interpretable relationship between the control output and fuzzy logic controller design parameters, such as center or width of the membership functions. To simplify the design procedure further, we think every attempt to obtain such interpretable relationships is worthwhile. Accordingly, this paper aims to design a double-input interval type-2 fuzzy PID controller and obtain interpretable relationships between the input and the output of the controller. Thereafter, we deploy the novel design for the control of a Y6 coaxial tricopter unmanned aerial vehicle. Simulation results, which are realised in robot operating system (ROS) using C++ and Gazebo environment, are found to tally with the theoretical analysis and claims in the paper.

AB - A significant number of investigations of type-1 and type-2 fuzzy logic controllers have revealed their exceptional ability to capture uncertainties in complex and nonlinear systems, particularly in real-time control applications. However, regardless of being type-1 or type-2, fuzzy logic controller design is still a complicated task due to the lack of a closed form solution of the output and an interpretable relationship between the control output and fuzzy logic controller design parameters, such as center or width of the membership functions. To simplify the design procedure further, we think every attempt to obtain such interpretable relationships is worthwhile. Accordingly, this paper aims to design a double-input interval type-2 fuzzy PID controller and obtain interpretable relationships between the input and the output of the controller. Thereafter, we deploy the novel design for the control of a Y6 coaxial tricopter unmanned aerial vehicle. Simulation results, which are realised in robot operating system (ROS) using C++ and Gazebo environment, are found to tally with the theoretical analysis and claims in the paper.

UR - http://www.scopus.com/inward/record.url?scp=85030179499&partnerID=8YFLogxK

U2 - 10.1109/FUZZ-IEEE.2017.8015485

DO - 10.1109/FUZZ-IEEE.2017.8015485

M3 - Article in proceedings

SN - 978-1-5090-6034-4

SP - 1

EP - 6

BT - 2017 IEEE International Conference on Fuzzy Systems, FUZZ 2017

PB - IEEE

T2 - IEEE International Conference on Fuzzy Systems 2017

Y2 - 9 July 2017 through 12 July 2017

ER -