Uncertainty-robust design of interval type-2 fuzzy logic controller for delta parallel robot

IEEE Transactions on Industrial Informatics

Volumn 7, Issue 4, 2011, Pages 661-670

  Linda, Ondrej ^a   Manic, Milos ^a  

^a UNIVERSITY OF IDAHO   (United States)

Author keywords

Delta parallel robot; interval type 2 fuzzy logic control (T2 FLC); robustness; uncertainty handling

Indexed keywords

CONSTRAINED DESIGN; CONTROL PERFORMANCE; CONTROL POTENTIAL; DELTA PARALLEL ROBOT; DESIGN PARAMETERS; INTERVAL TYPE-2 FUZZY LOGIC CONTROLLERS; PERFORMANCE DEGRADATION; SENSORY NOISE; SYSTEMATIC EXPLORATION; TYPE-2 FUZZY LOGIC; TYPE-2 FUZZY LOGIC CONTROLLERS; UNCERTAIN SYSTEM PARAMETERS; UNCERTAINTY HANDLING;

CONTROLLERS; FUZZY SETS; MACHINE DESIGN; MEMBERSHIP FUNCTIONS; ROBOTS; ROBUSTNESS (CONTROL SYSTEMS); UNCERTAINTY ANALYSIS;

FUZZY LOGIC;

EID: 81255129699     PISSN: 15513203     EISSN: None     Source Type: Journal    
DOI: 10.1109/TII.2011.2166786     Document Type: Article

References (35)

1. G. Klir and B. Yuan, Fuzzy Sets and Fuzzy Logic: Theory and Applications. Upper Saddle River, NJ: Prentice-Hall, 1995.
2. C. Huang, Y. Bai, and X. Liu, "H-infinity state feedback control for a class of networked cascade control systems with uncertain delay," IEEE Trans. Ind. Inform., vol. 6, no. 1, pp. 62-72, Feb. 2010.
3. G. Acciani, G. Fornarelli, and A. Giaquinto, "A fuzzy method for global quality index evaluation of solder joints in surface mount technology," IEEE Trans. Ind. Inform., vol. 7, no. 1, pp. 115-124, Feb. 2011.
4. A. Picon, O. Ghita, P. F. Whelan, and P. M. Iriondo, "Fuzzy spectral and spatial feature integration for classification of nonferrous materials in hyperspectral data," IEEE Trans. Ind. Inform., vol. 5, no. 4, pp. 483-494, Nov. 2009.
5. J. Lin and R.-J. Lian, "Intelligent control of active suspension systems," IEEE Trans. Ind. Electron., vol. 58, no. 2, pp. 618-628, Feb. 2011.
6. C. Cecati, F. Ciancetta, and P. Siano, "A multilevel inverter for photovoltaic systems with fuzzy logic control," IEEE Trans. Ind. Electron., vol. 57, no. 12, pp. 4115-4125, Dec. 2010.
7. J. M. Mendel, Uncertain Rule-Based Fuzzy Logic Systems: Introduction and New Directions. Upper Saddle River, NJ: Prentice-Hall, 2001.
8. L. A. Zadeh, "The concept of a linguistic variable and its approximate reasoning-I," Inf. Sci., vol. 8, pp. 199-249, 1975.
9. N. N. Karnik and J. M. Mendel, "Type-2 fuzzy logic systems," IEEE Trans. Fuzzy Syst., vol. 7, no. 6, pp. 643-658, Dec. 1999.
10. S. Coupland and R. John, "Geometric type-1 and type-2 fuzzy logic systems," IEEE Trans. Fuzzy Syst., vol. 15, no. 1, pp. 3-15, Feb. 2007.
11. Ch.Wagner and H. Hagras, "Toward general type-2 fuzzy logic systems based on zSlices," IEEE Trans. Fuzzy Syst., vol. 18, no. 4, pp. 637-660, Aug. 2010.
12. J. M. Mendel, F. Liu, and D. Zhai, "α-plane representation for type-2 fuzzy sets: Theory and applications," IEEE Trans. Fuzzy Syst., vol. 17, no. 5, pp. 1189-1207, Oct. 2009.
13. J. M. Mendel, R. John, and F. Liu, "Interval type-2 fuzzy logic systems made simple," IEEE Trans. Fuzzy Syst., vol. 14, no. 6, pp. 808-821, Dec. 2006.
14. H. A. Hagras, "A hierarchical type-2 fuzzy logic control architecture for autonomous mobile robots," IEEE Trans. Fuzzy Syst., vol. 12, no. 4, pp. 524-539, Aug. 2004.
15. J. Figueroa, J. Posada, J. Soriano, M. Melgarejo, and S. Rojas, "A type-2 fuzzy logic controller for tracking mobile objects in the context of robotic soccer games," in Proc. IEEE Intl. Conf. Fuzzy Syst., May 2005, pp. 359-364.
16. Ch. Lynch and H. Hagras, "Using uncertainty bounds in the design of an embedded real-time type-2 neuro-fuzzy speed controller for marine diesel engines," in Proc. IEEE Int. Conf. Fuzzy Syst., Sept. 2006, pp. 1446-1453.
17. O. Linda and M. Manic, "Comparative analysis of type-1 and type-2 fuzzy control in context of learning behaviors for mobile robotics," in Proc. IEEE 36th Annu. Conf. Ind. Electron. Soc., IECON'10, Nov. 2010, pp. 1092-1098.
18. R. H. Abiyev and O. Kaynak, "Type 2 fuzzy neural structure for identification and control of time-varying plants," IEEE Trans. Ind. Electron., vol. 57, no. 12, pp. 4147-4159, Dec. 2010.
19. J. M. Mendel, "A quantitative comparison of interval type-2 and type-1 fuzzy logic systems: First results," in Proc. World Congr. Comput. Intell., Jul. 2010, pp. 1-8.
20. O. Linda and M. Manic, "Evaluating uncertainty resiliency of type-2 fuzzy logic controllers for parallel delta robot," in Proc. 4th Int. Conf. Human Syst. Interactions, May 2011.
21. S. Martin and N. Hillier, "Characterization of the novint falcon haptic device for application as a robot manipulator," in Proc. Australasian Conf. Robot. Autom. (ACRA), Dec. 2009.
22. M. Biglarbegian, W. Melek, and J. M. Mendel, "On the robustness of type-1 and interval type-2 fuzzy logic systems in modeling," Inf. Sci., vol. 181, no. 7, pp. 1325-1347, Apr. 2011.
23. O. Linda and M. Manic, "Self-organizing fuzzy haptic teleoperation of mobile robot using sparse sonar data," IEEE Trans. Ind. Electron., 2011, in print.
24. C. I. Nichol and M. Manic, "Video game device haptic interface for robotic arc welding," in Proc. 2nd Conf. Human Syst. Interaction, May 2009, pp. 648-653.
25. E. H. Mamdani, "Advances in the linguistic synthesis of fuzzy controllers," Int. J. Man-Mach. Stud., vol. 7, pp. 1-13, 1975.
26. N. Karnik and J. M. Mendel, "Centroid of a type-2 fuzzy set," Inf. Sci., vol. 132, no. 1-4, pp. 195-220, Feb. 2001.
27. D.Wu and J. M. Mendel, "Enhanced Karnik-mendel algorithms," IEEE Trans. Fuzzy Syst., vol. 17, no. 4, pp. 923-934, Aug. 2009.
28. C. Szep, S. D. Stan, V. Csibi, M. Manic, and R. Balan, "Kinematics, workspace, design and accuracy analysis of RPRPR medical parallel robot," in Proc. 2nd IEEE Conf. Human Syst. Interaction, May 2009, pp. 75-80.
29. C. Gosseling, "Determination of the workspace of 6-D of parallel manipulators," ASME J. Mech. Design, vol. 112, pp. 331-336, 1990.
30. M. T. Masouleh, C. Gosselin, M. Husty, and D. R. Walter, "Forward kinematic problem of 5-RPUR parallel mechanism (3T2R) with identical limb structure," Mechanism and Machine Theory, vol. 46, no. 7, pp. 945-959, Jul. 2011.
31. Novint Falcon Webpage, , Mar. 2011. [Online]. Available: http://home. novint.com
32. X. Du and H. Ying, "Derivation and analysis of the analytical structures of the interval type-2 fuzzy-PI and PD controllers," IEEE Trans. Fuzzy Syst., vol. 18, no. 4, pp. 802-814, Aug. 2010.
33. D. Wu and J. M. Mendel, "On the continuity of type-1 and interval type-2 fuzzy logic systems," IEEE Trans. Fuzzy Syst., vol. 19, no. 1, pp. 179-192, Feb. 2011.
34. Ch.-N. Ko and Ch.-J. Wu, "A PSO-tuning method for design of fuzzy PID controllers," J. Vibration and Control, vol. 18, pp. 375-395, 2008.
35. J. M. Mendel, "Computing derivatives in interval type-2 fuzzy logic systems," IEEE Trans. Fuzzy Syst., vol. 12, no. 1, pp. 84-98, Feb. 2004.