Design of Type-2 Fuzzy Controller based on LQR Mapped Fusion Function

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Abhishek Kumar 1,* Sudeep Sharma 1 R. Mitra 1

1. Electronics & Computer Engineering Department, Indian Institute of Technology Roorkee, Uttarakhand, India

* Corresponding author.


Received: 17 Oct. 2011 / Revised: 21 Feb. 2012 / Accepted: 3 May 2012 / Published: 8 Jul. 2012

Index Terms

Fusion Function, Fuzzy Control, Linear Inverted Pendulum (LIP), LQR Control, T2FS, Uncertainty


“Rule number explosion” in fuzzy controller and “uncertainty” in the model are two main issues in the design of fuzzy control systems. To overcome these problems, we have applied a method in which a linear sensory fusion function has been used to reduce the number of dimensions of fuzzy controller’s inputs and simultaneously use the features of LQR control. Since, in type-2 fuzzy control, the degree of fuzziness increased and it can better handle the uncertainty in the model compared to conventional fuzzy, so the method of sensory fusion with type-2 fuzzy control scheme has been combined to make the controller more robust w.r.t. the parameter variation, perturbance and uncertainty in the model. Performance criteria like IAE, ISE and ITAE have been used to compare the control performance obtained from conventional fuzzy and type-2 fuzzy controller.

Cite This Paper

Abhishek Kumar, Sudeep Sharma, R. Mitra, "Design of Type-2 Fuzzy Controller based on LQR Mapped Fusion Function", International Journal of Intelligent Systems and Applications(IJISA), vol.4, no.8, pp.18-29, 2012. DOI:10.5815/ijisa.2012.08.03


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