Control Strategies Based on Interval Type-2 Fuzzy Logic for Autonomous Mobile and Humanoid Robots

2021 ◽  
pp. 221-236
Author(s):  
Felizardo Cuevas ◽  
Oscar Castillo ◽  
Prometeo Cortes
Keyword(s):  
Fuzzy Logic ◽  
Control Strategies ◽  
Humanoid Robots ◽  
Interval Type

Interval Type 2 Fuzzy Logic Based Multifocus Image Fusion

2018 ◽  
Vol 6 (1) ◽  
pp. 220-227
Author(s):  
A.N. Myna ◽  
◽  
J. Prakash ◽  
Keyword(s):  
Fuzzy Logic ◽  
Image Fusion ◽  
Interval Type

scholarly journals Social spider optimization algorithm for tuning parameters in PD-like Interval Type-2 Fuzzy Logic Controller applied to a parallel robot

2021 ◽  
Vol 54 (3-4) ◽  
pp. 303-323
Author(s):  
Amjad J Humaidi ◽  
Huda T Najem ◽  
Ayad Q Al-Dujaili ◽  
Daniel A Pereira ◽  
Ibraheem Kasim Ibraheem ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Trajectory Tracking ◽  
Fuzzy Logic Controller ◽  
Optimization Technique ◽  
Parallel Robot ◽  
Design Parameters ◽  
Social Spider ◽  
Social Spider Optimization ◽  
Interval Type

This paper presents control design based on an Interval Type-2 Fuzzy Logic (IT2FL) for the trajectory tracking of 3-RRR (3-Revolute-Revolute-Revolute) planar parallel robot. The design of Type-1 Fuzzy Logic Controller (T1FLC) is also considered for the purpose of comparison with the IT2FLC in terms of robustness and trajectory tracking characteristics. The scaling factors in the output and input of T1FL and IT2FL controllers play a vital role in improving the performance of the closed-loop system. However, using trial-and-error procedure for tuning these design parameters is exhaustive and hence an optimization technique is applied to achieve their optimal values and to reach an improved performance. In this study, Social Spider Optimization (SSO) algorithm is proposed as a useful tool to tune the parameters of proportional-derivative (PD) versions of both IT2FLC and T1FLC. Two scenarios, based on two square desired trajectories (with and without disturbance), have been tested to evaluate the tracking performance and robustness characteristics of proposed controllers. The effectiveness of controllers have been verified via numerical simulations based on MATLAB/SIMULINK programming software, which showed the superior of IT2FLC in terms of robustness and tracking errors.

Artificial potential field neuro-fuzzy controller for autonomous navigation of mobile robots

2020 ◽  
pp. 095965182097483
Author(s):  
Mahamat Loutfi Imrane ◽  
Achille Melingui ◽  
Joseph Jean Baptiste Mvogo Ahanda ◽  
Fredéric Biya Motto ◽  
Rochdi Merzouki
Keyword(s):  
Neural Networks ◽  
Fuzzy Logic ◽  
Mobile Robots ◽  
Potential Field ◽  
Autonomous Navigation ◽  
Fuzzy Logic Controller ◽  
Artificial Potential Field ◽  
Type Reduction ◽  
Interval Type

Some autonomous navigation methods, when implemented alone, can lead to poor performance, whereas their combinations, when well thought out, can yield exceptional performances. We have demonstrated this by combining the artificial potential field and fuzzy logic methods in the framework of mobile robots’ autonomous navigation. In this article, we investigate a possible combination of three methods widely used in the autonomous navigation of mobile robots, and whose individual implementation still does not yield the expected performances. These are as follows: the artificial potential field, which is quick and easy to implement but faces local minima and robustness problems. Fuzzy logic is robust but computationally intensive. Finally, neural networks have an exceptional generalization capacity, but face data collection problems for the learning base and robustness. This article aims to exploit the advantages offered by each of these approaches to design a robust, intelligent, and computationally efficient controller. The combination of the artificial potential field and interval type-2 fuzzy logic resulted in an interval type-2 fuzzy logic controller whose advantage over the classical interval type-2 fuzzy logic controller was the small size of the rule base. However, it kept all the classical interval type-2 fuzzy logic controller characteristics, with the major disadvantage that type-reduction remains the main cause of high computation time. In this article, the type-reduction process is replaced with two layers of neural networks. The resulting controller is an interval type-2 fuzzy neural network controller with the artificial potential field controller’s outputs as auxiliary inputs. The results obtained by performing a series of experiments on a mobile platform demonstrate the proposed navigation system’s efficiency.

Design of back propagation optimized Nagar-Bardini structure-based interval type-2 fuzzy logic systems for fuzzy identification

2021 ◽  
pp. 014233122110066
Author(s):  
Yang Chen ◽  
Jiaxiu Yang
Keyword(s):  
Fuzzy Logic ◽  
Back Propagation ◽  
Membership Functions ◽  
Identification Problems ◽  
Fuzzy Logic Systems ◽  
Fuzzy Identification ◽  
Logic Systems ◽  
Academic Topic ◽  
Interval Type

In recent years, fuzzy identification based on system identification theory has become a hot academic topic. Interval type-2 fuzzy logic systems (IT2 FLSs) have become a rising technology. This paper designs a type of Nagar-Bardini (NB) structure-based singleton IT2 FLSs for fuzzy identification problems. The antecedents of primary membership functions of IT2 FLSs are chosen as Gaussian type-2 primary membership functions with uncertain standard deviations. Then, the back propagation algorithms are used to tune the parameters of IT2 FLSs according to the chain rule of derivation. Compared with the type-1 fuzzy logic systems, simulation studies show that the proposed IT2 FLSs can obtain better abilities of generalization for fuzzy identification problems.

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