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

Research output: Contribution to book/anthology/report/proceedingArticle in proceedingsResearchpeer-review

7 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Fuzzy Systems, FUZZ 2017
Number of pages6
PublisherIEEE
Publication date23 Aug 2017
Pages1-6
Article number8015485
ISBN (Print)978-1-5090-6034-4
ISBN (Electronic)9781509060344
DOIs
Publication statusPublished - 23 Aug 2017
Externally publishedYes
EventIEEE International Conference on Fuzzy Systems 2017 - Royal-Continental Hotel Via Partenope, Italy
Duration: 9 Jul 201712 Jul 2017

Conference

ConferenceIEEE International Conference on Fuzzy Systems 2017
LocationRoyal-Continental Hotel Via Partenope
Country/TerritoryItaly
Period09/07/201712/07/2017

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