DocumentCode :
81077
Title :
A Self-Tuning zSlices-Based General Type-2 Fuzzy PI Controller
Author :
Kumbasar, Tufan ; Hagras, Hani
Author_Institution :
Control & Autom. Eng. Dept., Istanbul Tech. Univ., Istanbul, Turkey
Volume :
23
Issue :
4
fYear :
2015
fDate :
Aug. 2015
Firstpage :
991
Lastpage :
1013
Abstract :
The interval type-2 fuzzy Proportional-Integral (PI) controller (IT2-FPI) might be able to handle high levels of uncertainties to produce a satisfactory control performance, which could be potentially due to the robust performance as a result of the smoother control surface around the steady state. However, the transient state and disturbance rejection performance of the IT2-FPI may degrade in comparison with the type-1 fuzzy PI (T1-FPI) counterpart. This drawback can be resolved via general type-2 fuzzy PI controllers which can provide a tradeoff between the robust control performance of the IT2-FPI and the acceptable transient and disturbance rejection performance of the type-1 PI controllers. In this paper, we will present a zSlices-based general type-2 fuzzy PI controller (zT2-FPI), where the secondary membership functions (SMFs) of the antecedent general type-2 fuzzy sets are adjusted in an online manner. We will examine the effect of the SMF on the closed-system control performance to investigate their induced performance improvements. This paper will focus on the case followed in conventional or self-tuning fuzzy controller design strategies, where the aim is to decrease the integral action sufficiently around the steady state to have robust system performance against noises and parameter variations. The zSlices approach will give the opportunity to construct the zT2-FPI controller as a collection of IT2-FPI and T1-FPI controllers. We will present a new way to design a zT2-FPI controller based on a single tuning parameter where the features of T1-FPI (speed) and IT2-FPI (robustness) are combined without increasing the computational complexity much when compared with the IT2-FPI structure. This will allow the proposed zT2-FPI controller to achieve the desired transient state response and provide an efficient disturbance rejection and robust control performance. We will present several simulation studies on benchmark systems, in addition to real-world experime- ts that were performed using the PIONEER 3-DX mobile robot that will act as a platform to evaluate the proposed systems. The results will show that the control performance of the self-tuning zT2-FPI control structure enhances both the transient state and disturbance rejection performances when compared with the type-1 and IT2-FPI counterparts. In addition, the self-tuning zT2-FPI is more robust to disturbances, noise, and uncertainties when compared with the type-1 and interval type-2 fuzzy counterparts.
Keywords :
PI control; active disturbance rejection control; adaptive control; control system synthesis; fuzzy control; fuzzy set theory; mobile robots; robust control; self-adjusting systems; PIONEER 3-DX mobile robot; SMFs; T1-FPI controllers; antecedent general type-2 fuzzy set theory; closed-system control performance; computational complexity; disturbance rejection performance; interval type-2 fuzzy proportional-integral controller; robust control performance; self-tuning fuzzy controller design strategy; self-tuning zSlices-based general type-2 fuzzy PI controller; self-tuning zT2-FPI control structure; smoother control surface; transient state; transient state response; Equations; Fuzzy sets; Mathematical model; Robustness; Steady-state; Transient analysis; Tuning; General type-2 fuzzy logic systems; interval type-2 fuzzy logic systems; zSlices-based general type-2 fuzzy logic systems;
fLanguage :
English
Journal_Title :
Fuzzy Systems, IEEE Transactions on
Publisher :
ieee
ISSN :
1063-6706
Type :
jour
DOI :
10.1109/TFUZZ.2014.2336267
Filename :
6849437
Link To Document :
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