International Journal of Fuzzy Systems

, Volume 19, Issue 1, pp 190–206 | Cite as

Design and Optimization of Interval Type-2 Fuzzy Logic Controller for Delta Parallel Robot Trajectory Control

Article
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Abstract

In the view of the problem of designing and optimization of interval type-2 fuzzy logic controller (IT2 FLC) for Delta robot trajectory control, a systematic design method is put forward in this paper. A type-1 fuzzy logic controller (T1 FLC) is designed and optimized. Then, three kinds of method to blur the T1 fuzzy membership functions are proposed to generate IT2 fuzzy sets from the optimized T1 fuzzy sets. A systematic analysis is carried out to study the relationship between blur methods, blur degree and output control surface of IT2 FLC. Output signal enhance coefficient is proposed to make sure the IT2 FLC to provide enough output signal. The optimized IT2 FLC is validated through a set of simulations and by comparing against its type-1 counterpart in the presence of external and internal uncertainties. The simulation results show the optimized IT2 FLC can provide better trajectory tracking performance.

Keywords

Interval type-2 fuzzy logic control Control surface Optimization Delta robot Trajectory tracking control 
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Notes

Acknowledgments

The authors would like to thank the editors and unnamed reviewers for their valuable comments.

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Copyright information

© Taiwan Fuzzy Systems Association and Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  1. 1.State Key Lab of Robotics and System, School of Mechatronics EngineeringHarbin Institute of TechnologyHarbinChina
  2. 2.School of AstronauticsHarbin Institute of TechnologyHarbinChina

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