Optimization of interval type-2 fuzzy logic controllers for a perturbed autonomous wheeled mobile robot using genetic algorithms

We describe a tracking controller for the dynamic model of a unicycle mobile robot by integrating a kinematic and a torque controller based on type-2 fuzzy logic theory and genetic algorithms. Computer simulations are presented confirming the performance of the tracking controller and its application to different navigation problems.     

Genetic learning and performance evaluation of interval type-2 fuzzy logic controllers

Type-2 fuzzy sets, which are characterized by membership functions (MFs) that are themselves fuzzy, have been attracting interest. This paper focuses on advancing the understanding of interval type-2 fuzzy logic controllers (FLCs). First, a type-2 FLC is evolved using Genetic Algorithms (GAs). The type-2 FLC is then compared with another three GA evolved type-1 FLCs that have different design parameters. The objective is to examine the amount by which the extra degrees of freedom provided by antecedent type-2 fuzzy sets is able to improve the control performance. Experimental results show that better control can be achieved using a type-2 FLC with fewer fuzzy sets/rules so one benefit of type-2 FLC is a lower trade-off between modeling accuracy and interpretability.     

一种改进的区间二型模糊控制器设计

针对二型模糊控制器设计中出现的降型计算方法损失不确定性信息的问题,提出一种改进的区间二型模糊控制器．该控制器在充分利用二型模糊推理结果的前提下,对区间模糊输出进行再次优化,其优化指标可直接与被控系统性能相关,由此可得到更有利于提高系统整体性能的准确输出量．最后,将改进的控制器用于汽车非线性悬架系统的控制,仿真结果验证了所提出方法的有效性．     

Experimental study of intelligent controllers under uncertainty using type-1 and type-2 fuzzy logic

Uncertainty is an inherent part in control systems used in real world applications. The use of new methods for handling incomplete information is of fundamental importance. Type-1 fuzzy sets used in conventional fuzzy systems cannot fully handle the uncertainties present in control systems. Type-2 fuzzy sets that are used in type-2 fuzzy systems can handle such uncertainties in a better way because they provide us with more parameters and more design degrees of freedom. This paper deals with the design of control systems using type-2 fuzzy logic for minimizing the effects of uncertainty produced by the instrumentation elements, environmental noise, etc. The experimental results are divided in two classes, in the first class, simulations of a feedback control system for a non-linear plant using type-1 and type-2 fuzzy logic controllers are presented; a comparative analysis of the systems’ response in both cases was performed, with and without the presence of uncertainty. For the second class, a non-linear identification problem for time-series prediction is presented. Based on the experimental results the conclusion is that the best results are obtained using type-2 fuzzy systems.     

区间二型模糊逻辑系统质心降型及加权Nie-Tan算法

降型是二型模糊逻辑系统中的核心模块。Nie-Tan (NT) 算法不涉及到迭代过程,可直接得到系统输出,具有减少计算消耗的优势,而连续NT(CNT)算法在最近的研究中被证明为准确的质心降型算法。通过分析离散NT算法中求和运算和连续NT算法中的求积分运算,利用数值积分技术中牛顿-柯斯特求积公式将NT算法扩展成3种不同形式的加权NT（WNT）算法。在取相同的主变量采样率的情况下,3个计算机仿真例子表明了WNT算法比NT算法有更小的绝对误差且计算速度几乎相同,这使3种不同形式的WNT算法在区间二型模糊逻辑系统的实时应用上具有潜在的可行性和有效性。     

Computing derivatives in interval type-2 fuzzy logic systems

This paper makes type-2 fuzzy logic systems much more accessible to fuzzy logic system designers, because it provides mathematical formulas and computational flowcharts for computing the derivatives that are needed to implement steepest-descent parameter tuning algorithms for such systems. It explains why computing such derivatives is much more challenging than it is for a type-1 fuzzy logic system. It provides derivative calculations that are applicable to any kind of type-2 membership functions, since the calculations are performed without prespecifying the nature of those membership functions. Some calculations are then illustrated for specific type-2 membership functions.     

面向后件集的模糊推理机制: 用于区间型type-2模糊逻辑系统

目前,大多数模糊推理都是利用t-范数和t-余范数或其改进形式对连接词进行建模,这些模型不能将模糊规则中前件集与后件集之间的相关性信息引入到模糊推理过程,这会丢失蕴含在规则中的一些信息甚至导致推理结果与实际经验严重不符.为解决此问题,本文首先引入模糊集合面向对象变换的概念,并将其推广,建立了合成type-2模糊集合模型.基于此模型,针对区间型type-2模糊逻辑系统,提出一种面向后件集的模糊推理机制,该机制能将前件集与后件集的相关性信息(包括清晰数和模糊数两种情形)引入到模糊推理过程.仿真结果表明,该方法能捕获到模糊规则中更多的不确定性信息,并为模糊逻辑系统的设计提供更大的自由度.     

Dynamic parameter adaptation in particle swarm optimization using interval type-2 fuzzy logic

In this paper, we propose a new method for dynamic parameter adaptation in particle swarm optimization (PSO). PSO is an optimization method inspired in social behavior, which has been applied to different optimization problems obtaining good results. In this paper, we propose an improvement to the convergence and diversity of the swarm in PSO using interval type-2 fuzzy logic. Simulation results show that the proposed approach improves the performance of PSO. A comparison of the proposed method using type-2 fuzzy logic with the original PSO approach, and with PSO using type-1 fuzzy logic for dynamic parameter adaptation is presented.     

Improving risk-adjusted performance in high frequency trading using interval type-2 fuzzy logic

In this paper, we investigate the ability of higher order fuzzy systems to handle increased uncertainty, mostly induced by the market microstructure noise inherent in a high frequency trading (HFT) scenario. Whilst many former studies comparing type-1 and type-2 Fuzzy Logic Systems (FLSs) focus on error reduction or market direction accuracy, our interest is predominantly risk-adjusted performance and more in line with both trading practitioners and upcoming regulatory regimes. We propose an innovative approach to design an interval type-2 model which is based on a generalisation of the popular type-1 ANFIS model. The significance of this work stems from the contributions as a result of introducing type-2 fuzzy sets in intelligent trading algorithms, with the objective to improve the risk-adjusted performance with minimal increase in the design and computational complexity. Overall, the proposed ANFIS/T2 model scores significant performance improvements when compared to both standard ANFIS and Buy-and-Hold methods. As a further step, we identify a relationship between the increased trading performance benefits of the proposed type-2 model and higher levels of microstructure noise. The results resolve a desirable need for practitioners, researchers and regulators in the design of expert and intelligent systems for better management of risk in the field of HFT.     

An interval type-2 fuzzy logic system-based method for prediction interval construction

This paper introduces a new non-parametric method for uncertainty quantification through construction of prediction intervals (PIs). The method takes the left and right end points of the type-reduced set of an interval type-2 fuzzy logic system (IT2FLS) model as the lower and upper bounds of a PI. No assumption is made in regard to the data distribution, behaviour, and patterns when developing intervals. A training method is proposed to link the confidence level (CL) concept of PIs to the intervals generated by IT2FLS models. The new PI-based training algorithm not only ensures that PIs constructed using IT2FLS models satisfy the CL requirements, but also reduces widths of PIs and generates practically informative PIs. Proper adjustment of parameters of IT2FLSs is performed through the minimization of a PI-based objective function. A metaheuristic method is applied for minimization of the non-linear non-differentiable cost function. Performance of the proposed method is examined for seven synthetic and real world benchmark case studies with homogenous and heterogeneous noise. The demonstrated results indicate that the proposed method is capable of generating high quality PIs. Comparative studies also show that the performance of the proposed method is equal to or better than traditional neural network-based methods for construction of PIs in more than 90% of cases. The superiority is more evident for the case of data with a heterogeneous noise.     

A simple design method for interval type-2 fuzzy pid controllers

In this study, a design method for single Input interval type-2 fuzzy PID controller has been developed. The most important feature of the proposed type-2 fuzzy controller is its simple structure consisting of a single input variable. The presented simple structure gives an opportunity to the designer to form the type-2 fuzzy controller output in closed form formulation for the first time in literature. This formulation cannot be achieved with present type-2 fuzzy PID controller structures which have employed the Karnik-Mendel type reduction. The closed form solution is derived in terms of the tuning parameters which are chosen as the heights of lower membership functions of the antecedent interval type-2 fuzzy sets. Elaborations are done on the derived closed form output and a simple strategy is presented for a single input type-2 fuzzy PID controller design. The presented interval type-2 fuzzy controller structure still keeps the most preferred features of the PID controller such as simplicity and easy design. We will illustrate how the extra degrees of freedom provided by the antecedent interval type-2 fuzzy sets can be used to enhance the control performance on linear and nonlinear benchmark systems by simulations. Moreover, the type-2 fuzzy controller structure has been implemented on experimental pH neutralization. The simulation and experimental results will illustrate that the proposed type-2 fuzzy controller produces superior control performance and can handle nonlinear dynamics, parameter uncertainties, noise and disturbances better in comparison with the standard PID controllers. Hence, the results and analyses of this study will give the control engineers an opportunity to draw a bridge and connect the type-2 fuzzy logic and control theory.     

Control of a distillation column by type-2 and type-1 fuzzy logic PID controllers

The aim of this paper is to develop a type-1 and a type-2 fuzzy logic PID controller (type-1 FLC and type-2 FLC, respectively) for the control of a binary distillation column, the mathematical model of which is characterized by both high nonlinearities and parameter uncertainties. Attention was focused on the tuning procedure proposed by the authors and representing a development of the original Jantzen [1] method for type-1 and type-2 fuzzy controllers, in particular including input type-2 Gaussian membership functions. A theoretical explanation of the differences in fuzzy controller performance was in fact provided in the light of simulation results. The performance of a type-1 FLC was then compared in simulation with the one of type-2 FLC. All the simulation results confirmed the robustness and the effective control action of each fuzzy controller, with evident advantages for the type-2 FLC.     

Intuit before tuning: Type-1 and type-2 fuzzy logic controllers

Although a considerable amount of effort has been put in to show that fuzzy logic controllers have exceptional capabilities of dealing with uncertainty, there are still noteworthy concerns, e.g., the design of fuzzy logic controllers is an arduous task due to the lack of closed-form input–output relationships which is a limitation to interpretability of these controllers. The role of design parameters in fuzzy logic controllers, such as position, shape, and height of membership functions, is not straightforward. Motivated by the fact that the availability of an interpretable relationship from input to output will simplify the design procedure of fuzzy logic controllers, the main aims in this work are derive fuzzy mappings for both type-1 and interval type-2 fuzzy logic controllers, analyse them, and eventually benefit from such a nonlinear mapping to design fuzzy logic controllers. Thereafter, simulation and real-time experimental results support the presented theoretical findings.     

A framework for designing cognitive trajectory controllers using genetically evolved interval type-2 fuzzy cognitive maps

In this paper, we provide a complete framework for the design of genetically evolved cognitive tracking controller based on interval type-2 (IT2) fuzzy cognitive map (FCM). We construct the cognitive controller based on a nonlinear controller by transforming its representation into a FCM. This representation gives the opportunity to prove the stability of the cognitive controller in the framework of nonlinear control theory. Moreover, with the deployment of IT2-fuzzy sets which are known to be capable to handle high level of uncertainty, the proposed cognitive controller has the ability to deal with uncertainty that are encountered in real-time world applications. To accomplish the design of the cognitive controller, we present a systematic approach based on genetic algorithm to optimize its parameters and learn fuzzy rules by extracting them from model space (e.g., a set of rules). Within the paper, all steps in constructing and designing the IT2-FCM-based cognitive controller are presented. We first show the performance improvements of the proposed IT2-FCM-based tracking controller with extensive and comparative simulation results and then with experimental results that were collected on real-world mobile robot. The results clearly show the superiority of proposed cognitive control systems when compared to its conventional and fuzzy controller counterparts. We believe that the proposed genetically evolved design approach of the IT2-FCM-based cognitive controller will provide a bridge between the well-developed cognitive sciences and control theory.     

A review on the design and optimization of interval type-2 fuzzy controllers

A review of the methods used in the design of interval type-2 fuzzy controllers has been considered in this work. The fundamental focus of the work is based on the basic reasons for optimizing type-2 fuzzy controllers for different areas of application. Recently, bio-inspired methods have emerged as powerful optimization algorithms for solving complex problems. In the case of designing type-2 fuzzy controllers for particular applications, the use of bio-inspired optimization methods have helped in the complex task of finding the appropriate parameter values and structure of the fuzzy systems. In this review, we consider the application of genetic algorithms, particle swarm optimization and ant colony optimization as three different paradigms that help in the design of optimal type-2 fuzzy controllers. We also mention alternative approaches to designing type-2 fuzzy controllers without optimization techniques. We also provide a comparison of the different optimization methods for the case of designing type-2 fuzzy controllers.     

Control of a non-isothermal continuous stirred tank reactor by a feedback-feedforward structure using type-2 fuzzy logic controllers

A control system that uses type-2 fuzzy logic controllers (FLC) is proposed for the control of a non-isothermal continuous stirred tank reactor (CSTR), where a first order irreversible reaction occurs and that is characterized by the presence of bifurcations. Bifurcations due to parameter variations can bring the reactor to instability or create new working conditions which although stable are unacceptable. An extensive analysis of the uncontrolled CSTR dynamics was carried out and used for the choice of the control configuration and the development of controllers. In addition to a feedback controller, the introduction of a feedforward control loop was required to maintain effective control in the presence of disturbances. Simulation results confirmed the effectiveness and the robustness of the type-2 FLC which outperforms its type-1 counterpart particularly when system uncertainties are present.     

Freeway traffic control using fuzzy logic controllers

A major cause of freeway congestion before the traffic density becomes critical is the shock wave due to the speed differences between consecutive vehicles. Such disturbance can be reduced if we can impose homogeneous speed control on the vehicles. In this paper, a two-level model-free control scheme using neural-network-based fuzzy logic controllers is proposed which regulates the speed of the freeway through speed advisory boards. Using information from both measurement data and expert knowledge (e.g., environmental information and psychological factors), it is expected that this controller will outperform the conventional ones.     

广义二型模糊逻辑系统降型及其采样离散Nie-Tan算法

广义二型模糊逻辑系统在近年来成为学术研究的热点问题,而降型是该系统中的核心模块。最近的研究证明了连续Nie-Tan(CNT)算法是计算区间二型模糊集质心的准确方法。发现了离散Nie-Tan(NT)算法中的求和运算和CNT算法中的求积分运算的内在联系,用2类算法完成基于广义二型模糊集α-平面表达理论的广义二型模糊逻辑系统质心降型。3个计算机仿真实验表明,当适当增加主变量采样点个数时,所提出的基于主变量采样的离散NT算法计算出的广义二型模糊逻辑系统质心降型集和解模糊化值结果可以精确地逼近基准的CNT算法,且采样离散NT算法的计算效率远远高于CNT算法的效率。     

A new gaussian noise filter based on interval type-2 fuzzy logic systems

In this paper, a new selective feedback fuzzy neural network (SFNN) based on interval type-2 fuzzy logic systems is introduced by partitioning input and output spaces and based upon which a new FLS filter is further studied. The experimental results demonstrate that this new FLS filter outperforms other filters (e.g. the mean filter and the Wiener filter) in suppressing Gaussian noise and maintaining the original structure of an image.