A simple approach for designing a type-2 fuzzy controller for a mobile robot application

This paper presents an approach for designing an interval type-2 fuzzy logic controller (IT2-FLC) for a mobile robot application and describes how it can be developed involving the use of type-1 and type 2 fuzzy sets. Some tests are carried out in order to compare its performance variability under different levels of noise and different defuzzyfier methods. In addition, designed IT2-FLC is implemented and tested onto a digital signal controller embedded hardware. Simulated and emulated results evidence that IT2-FLC is robust to defuzzyfier changes and exhibits better performance than a T1-FLC when noise is added to inputs and outputs.