Paper Info
Title
A Novel Dual-Surface Type-2 Controller For Micro Robots
Abstract
Type-2 fuzzy logic controllers have been used recently for a variety of control problems. In this paper, a novel mechanism is proposed for utilising the lower and upper control surfaces of a conventional interval type-2 fuzzy controller. The new control methodology, termed a 'dualsurface' (interval type-2) controller is described and its implementation on micro robots in the context of robot football is presented. Experimental results, both in simulation and in the real world, are presented. It was found that, while the dual-surface controller demonstrated advantages in the simulation experiments, these advantages were not realised in the real-world experiments. We conclude that further and more detailed real-world experiments, in which the real-world uncertainties are carefully considered, are required in order to fully explore whether this novel approach is clearly justified.
Year
DOI
Venue
2010
10.1109/FUZZY.2010.5584034
2010 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE 2010)
Keywords
Field
DocType
noise,simulation experiment,fuzzy sets,uncertainty,fuzzy set theory,fuzzy logic,mobile robots,fuzzy control
Control theory,Computer science,Control theory,Flight control surfaces,Fuzzy logic,Noise level,Fuzzy set,Fuzzy control system,Robot,Mobile robot
Conference
ISSN
Citations 
PageRank 
1098-7584
5
0.47
References 
Authors
6
2
Name
Order
Citations
PageRank
Phil Birkin172.20
J. M. Garibaldi21425146.38