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Non-singleton General Type-2 Fuzzy Control for a Two-Wheeled Self-Balancing Robot

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Abstract

This paper presents several non-singleton general type-2 fuzzy logic controllers (NGT2FLCs) for an under-actuated mobile two-wheeled self-balancing robot to improve the anti-interference capability of the system. Four kinds of fuzzifiers, including singleton fuzzifier, type-1 non-singleton fuzzifier, interval type-2 non-singleton fuzzifier and general type-2 non-singleton fuzzifier, are considered to construct different general type-2 fuzzy logic controllers (GT2FLCs). In order to show the superiority of the GT2FLCs, three kinds of interval type-2 fuzzy logic controllers (IT2FLCs), including singleton IT2FLCs, type-1 non-singleton IT2FLCs (N1IT2FLCs) and interval type-2 non-singleton IT2FLCs (N2IT2FLCs), are also presented. A comparative study between singleton fuzzy controllers and non-singleton fuzzy controllers, and IT2FLCs and GT2FLCs is also shown. All simulation results show that the performance of non-singleton fuzzy logic controllers is better than that of singleton fuzzy logic controllers. The NGT2FLCs get the best performance in the presence of uncertainties and external disturbances.

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Acknowledgements

This work is supported by the National Key R&D Program of China (2018YFB1307402) and the National Natural Science Foundation of China (61703291).

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Authors and Affiliations

  1. College of Electrical Engineering and Information Technology, Sichuan University, Chengdu, 610065, China

    Tao Zhao, Qian Yu & Songyi Dian

  2. State Grid Shandong Electric Power Company, Jinan, 250001, China

    Rui Guo

  3. Electric Power Research Institute of State Grid Liaoning Electric Power Co., Ltd, Shenyang, 110006, China

    Shengchuan Li

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  1. Tao Zhao
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  2. Qian Yu
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Correspondence to Songyi Dian.

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Zhao, T., Yu, Q., Dian, S. et al. Non-singleton General Type-2 Fuzzy Control for a Two-Wheeled Self-Balancing Robot. Int. J. Fuzzy Syst. 21, 1724–1737 (2019). https://doi.org/10.1007/s40815-019-00664-4

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