TY - JOUR
T1 - A Novel Evolving Type-2 Fuzzy System for Controlling a Mobile Robot under Large Uncertainties
AU - Al-Mahturi, Ayad
AU - Santoso, Fendy
AU - Garratt, Matthew A.
AU - Anavatti, Sreenatha G.
N1 - Funding Information:
The research is supported by the Australian Government Training Program Scholarship. Our heartfelt thanks to The University of New South Wales, Canberra, Australia for supporting this research work.
Publisher Copyright:
© 2023 by the authors.
PY - 2023/4
Y1 - 2023/4
N2 - This paper presents the development of a type-2 evolving fuzzy control system (T2-EFCS) to facilitate self-learning (either from scratch or from a certain predefined rule). Our system has two major learning stages, namely, structure learning and parameters learning. The structure phase does not require previous information about the fuzzy structure, and it can start the construction of its rules from scratch with only one initial fuzzy rule. The rules are then continuously updated and pruned in an online fashion to achieve the desired set point. For the phase of learning parameters, all adjustable parameters of the fuzzy system are tuned by using a sliding surface method, which is based on the gradient descent algorithm. This method is used to minimize the difference between the expected and actual signals. Our proposed control method is model-free and does not require prior knowledge of the plant’s dynamics or constraints. Instead, data-driven control utilizes artificial intelligence-based techniques, such as fuzzy logic systems, to learn the dynamics of the system and adapt to changes in the system, and account for complex interactions between different components. A robustness term is incorporated into the control effort to deal with external disturbances in the system. The proposed technique is applied to regulate the dynamics of a mobile robot in the presence of multiple external disturbances, demonstrating the robustness of the proposed control systems. A rigorous comparative study with respect to three different controllers is performed, where the outcomes illustrate the superiority of the proposed learning method as evidenced by lower RMSE values and fewer fuzzy parameters. Lastly, stability analysis of the proposed control method is conducted using the Lyapunov stability theory.
AB - This paper presents the development of a type-2 evolving fuzzy control system (T2-EFCS) to facilitate self-learning (either from scratch or from a certain predefined rule). Our system has two major learning stages, namely, structure learning and parameters learning. The structure phase does not require previous information about the fuzzy structure, and it can start the construction of its rules from scratch with only one initial fuzzy rule. The rules are then continuously updated and pruned in an online fashion to achieve the desired set point. For the phase of learning parameters, all adjustable parameters of the fuzzy system are tuned by using a sliding surface method, which is based on the gradient descent algorithm. This method is used to minimize the difference between the expected and actual signals. Our proposed control method is model-free and does not require prior knowledge of the plant’s dynamics or constraints. Instead, data-driven control utilizes artificial intelligence-based techniques, such as fuzzy logic systems, to learn the dynamics of the system and adapt to changes in the system, and account for complex interactions between different components. A robustness term is incorporated into the control effort to deal with external disturbances in the system. The proposed technique is applied to regulate the dynamics of a mobile robot in the presence of multiple external disturbances, demonstrating the robustness of the proposed control systems. A rigorous comparative study with respect to three different controllers is performed, where the outcomes illustrate the superiority of the proposed learning method as evidenced by lower RMSE values and fewer fuzzy parameters. Lastly, stability analysis of the proposed control method is conducted using the Lyapunov stability theory.
KW - evolving type-2 fuzzy systems
KW - Lyapunov stability
KW - robotic control
KW - uncertainties
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U2 - 10.3390/robotics12020040
DO - 10.3390/robotics12020040
M3 - Article
AN - SCOPUS:85153714047
SN - 2218-6581
VL - 12
JO - Robotics
JF - Robotics
IS - 2
M1 - 40
ER -