An investigation into the relationship between type-2 FOU size and environmental uncertainty in robotic control

Benatar, Naisan; Aickelin, Uwe; Garibaldi, Jonathan M.

Abstract

It has often been suggested that when faced with
large amount of uncertainty in situations of automated control type-2 fuzzy logic based controllers will out perform the simpler type-1 varieties due to the latter lacking a mechanism to model this uncertainty and adapt accordingly. This paper aims to investigate this problem in detail and analyse when and the magnitude by which a type-2 controller will improve upon type-1 performance. A sailing robot is subjected to several experiments in which the uncertainty and the complexity of the sailing problem is gradually increased in order to observe the effects on measured performance. Improved performance is observed, however this does not occur in all cases. The size of the FOU is shown to be very important in the creation of
the type-2 system with potentially severe performance penalties for incorrectly sized systems.

Citation

Benatar, N., Aickelin, U., & Garibaldi, J. M. (2012). An investigation into the relationship between type-2 FOU size and environmental uncertainty in robotic control.

• Conference Name: 2012 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)
• End Date: Jun 15, 2012
• Publication Date: Jan 1, 2012
• Deposit Date: Jun 24, 2013
• Publicly Available Date: Jun 24, 2013
• Journal: Proceedings of 2012 IEEE International Conference on Fuzzy Systems 2012
• Peer Reviewed: Peer Reviewed
• Public URL: https://nottingham-repository.worktribe.com/output/1008253
• Publisher URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6251257
• Additional Information: Copyright IEEE 2012. Published in: 2012 IEEE International; Conference on Fuzzy Systems, ISBN: 978-1-4673-1506-7; doi: 10.1109/FUZZ-IEEE.2012.6251257