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On comparing non-singleton type-1 and singleton type-2 fuzzy controllers for a nonlinear servo system

Cara, Ana Belen and Rojas, Ignacio and Pomares, Hector and Wagner, Christian and Hagras, Hani (2011) On comparing non-singleton type-1 and singleton type-2 fuzzy controllers for a nonlinear servo system. In: 2011 IEEE Symposium On Advances In Type-2 Fuzzy Logic Systems - Part Of 17273 - 2011 Ssci, 2011-04-11 - 2011-04-15.

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Uncertainty handling is a major issue for the control of real-world systems. Traditional singleton type-1 Fuzzy Logic Controllers (FLCs) with crisp inputs and precise fuzzy sets cannot fully cope with the high levels of uncertainties present in real world environments (e.g. sensor noise, environmental impacts, etc.). While non-singleton type-1 fuzzy systems can provide an additional degree of freedom through non-singleton fuzzification of the inputs, it is unclear how this capability relates to singleton type-1 and specifically interval type-2 FLCs in terms of control performance (also because the application of non-singleton type-1 FLCs is quite rare in the literature). In recent years interval type-2 FLCs employing type-2 fuzzy sets with a Footprint of Uncertainty (FOU) have become increasingly popular. This FOU provides an additional degree of freedom that can enable type-2 FLCs to handle the uncertainties associated with the inputs and the outputs of the FLCs. One of the main criticisms of singleton type-2 FLCs is that they outperform (the usually singleton-) type-1 FLCs because they - respectively their type-2 fuzzy sets, employ extra parameters, thus making improved performance an obvious result. In order to address this criticism, we have implemented a non-singleton type-1 FLC which allows a more direct comparison between the non-singleton type-1 FLC and singleton interval type-2 FLC as the number of parameters for both controllers is very similar. The paper details the implementation details of the FLCs for the application of a nonlinear servo system and provides the experimental simulation results which were performed to study the effect of increasing levels of uncertainty (in the form of input noise) and the capability of the individual FLCs to cope with them. We conclude by providing our interpretation of the results and highlighting the essential differences in the uncertainty handling between the (non-) singleton type-1 and singleton interval type-2 FLCs. © 2011 IEEE.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Published proceedings: IEEE SSCI 2011: Symposium Series on Computational Intelligence - T2FUZZ 2011: 2011 IEEE Symposium on Advances in Type-2 Fuzzy Logic Systems
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health
Faculty of Science and Health > Computer Science and Electronic Engineering, School of
SWORD Depositor: Elements
Depositing User: Elements
Date Deposited: 12 Sep 2013 19:22
Last Modified: 15 Jan 2022 00:38

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