A Type-2 Fuzzy Controller for Tracking Mobile Objects in the Context of Robotic Soccer Games

This paper presents a type-2 fuzzy logic controller for a robotic agent intended to track a mobile object in the context of robot soccer games. The controller has two inputs and two outputs that are logically connected by four rules. Image processing is used to estimate the angle between the agent and the target, which introduces uncertainty in the control loop. Other sources of uncertainty related to defects in the control loop have been identified. In this sense, the paper explores how the type-2 controller overcomes those sources without incrementing the computational cost of the application