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

Benatar, Naisan and Aickelin, Uwe and Garibaldi, Jonathan M. (2012) An investigation into the relationship between type-2 FOU size and environmental uncertainty in robotic control. In: 2012 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), 10-15 June 2012, Brisbane, Australia.

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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.

Item Type: Conference or Workshop Item (Paper)
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
Schools/Departments: University of Nottingham, UK > Faculty of Science > School of Computer Science
Depositing User: Aickelin, Professor Uwe
Date Deposited: 24 Jun 2013 09:40
Last Modified: 03 Dec 2016 05:32
URI: http://eprints.nottingham.ac.uk/id/eprint/2034

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