Type-1 and Type-2 fuzzy Sets to Control a Nonlinear Dynamic System
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Date
2019-02
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Université de M'sila
Abstract
This paper is related to the simulation, in Matlab environment, of a robot manipulator
controlled by both type-1 and interval type-2 fuzzy controllers, in which a modification in
Karnik-Mendel algorithm has been proposed. To calculate the output of interval type-2 fuzzy
system there is a main step called type-reduced; this operation is based on Karnik-Mendel
algorithm, which uses arithmetic mean to calculate the control output. In this work, we propose
to change the arithmetic mean by harmonic one. The performances of modified interval type-
2 controller and type-1 fuzzy controller with and without noises are compared in terms of
integral of squared error. The proposed modification in type reduction of Karnik-Mendel
algorithm for interval type-2 fuzzy set shows best performance. Indeed, the amount of error in
case of modified interval type-2 fuzzy controller is less two times than type-1 fuzzy controller.
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Keywords
type-1 fuzzy sets, interval type-2 fuzzy sets, nonlinear dynamic system, PUMA560 robot