title: A controller based on Optimal Type-2 Fuzzy Logic: systematic design, optimization and real-time implementation.
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.
authors: Department of Electrical and Electronic Engineering, Universiti Teknologi PETRONAS, 31750 Tronoh, Perak, Malaysia. Electronic address: haytham.fayek@ieee.org.
authors: H M
authors: HM
authors: Fayek
authors: Department of Electrical and Electronic Engineering, Universiti Teknologi PETRONAS, 31750 Tronoh, Perak, Malaysia. Electronic address: irraivan_elamvazuthi@petronas.com.my.
authors: I
authors: I
authors: Elamvazuthi
authors: Department of Electrical and Electronic Engineering, Universiti Teknologi PETRONAS, 31750 Tronoh, Perak, Malaysia.
authors: N
authors: N
authors: Perumal
authors: Department of Electrical and Computer Engineering, Ryerson University, Toronto, Ontario, Canada M5B 2K3.
authors: B
authors: B
authors: Venkatesh
keywords: Fuzzy Logic Control; Intelligent control; Optimization; Robotic arm; Type-2 Fuzzy Logic