Designing Type-2 Fuzzy Controllers Using Lyapunov Approach for Trajectory Tracking

摘要

The paper presents the design of type-2 fuzzy controllers using the fuzzy Lyapunov synthesis approach in order to systematically generate the rule base. To construct the rule base, the error signal and the derivative of the error signal are considered. It also presents the performance analysis to determine the value of the separation interval ξ between the upper and lower membership functions of the type-2 fuzzy set used. The controllers are implemented via simulation to solve trajectory tracking problem for angular position and angular velocity of a servo trainer equipment. Simulation results are successful for both cases and shown better performance than those of classical controllers.