An intelligent control for linear ultrasonic motor using interval type-2 fuzzy neural network

An interval type-2 fuzzy neural network (IT2FNN) is developed for the position control of a thetas-axis motion-control stage using a linear ultrasonic motor to confront the uncertainties of the motion-control stage. A T2FNN consists of a type-2 fuzzy linguistic process as the antecedent part and a three-layer interval neural network as the consequent part. A general T2FNN is computationally intensive due to the complexity of reducing type 2 to type 1. Therefore an IT2FNN is adopted to simplify the computational process. Moreover, the developed IT2FNN combines the merits of an interval type-2 fuzzy logic system and a neural network. Furthermore, the parameter-learning of the IT2FNN, which is based on the supervised gradient decent method using a delta adaptation law, is performed on line. Experimental results show that the dynamic behaviours of the proposed IT2FNN control system are more effective and robust with regard to uncertainties than the type-1 FNN control system.