Static Output Feedback Control for Interval Type‐2 T‐S Fuzzy Systems Based on Fuzzy Lyapunov Functions

This study aims to design an interval type‐2 (IT2) fuzzy static output feedback controller to stabilize the IT2 Takagi‐Sugeno (T‐S) fuzzy system. Conservative results may be obtained when a common quadratic Lyapunov function is utilized to investigate the stability of T‐S fuzzy systems. A fuzzy Lyapunov function is employed in this study to analyze the stability of the IT2 fuzzy closed‐loop system formed by the IT2 T‐S fuzzy model and the IT2 fuzzy static output feedback controller. Stability conditions in the form of linear matrix inequalities are derived. Several slack matrices are introduced to further reduce the conservativeness of stability analysis. The membership‐function shape‐dependent analysis approach is also employed to relax the stability results. The numerical examples illustrate the effectiveness of the proposed conditions.     

A general type‐2 fuzzy model for computing with words

As a methodology, computing with words (CW) allows the use of words, instead of numbers or symbols, in the process of computing and reasoning and thus conforms more to humans’ inference when it is used to describe real‐world problems. In the line of developing a computational theory for CW, in this paper we develop a formal general type‐2 fuzzy model of CW by exploiting general type‐2 fuzzy sets (GT2 FSs) since GT2 FSs bear greater potential to model the linguistic uncertainty. On the one hand, we generalize the interval type‐2 fuzzy sets (IT2 FSs)‐based formal model of CW into general type‐2 fuzzy environments. Concretely, we present two kinds of general type‐2 fuzzy automata (i.e., general type‐2 fuzzy finite automata and general type‐2 fuzzy pushdown automata) as computational models of CW. On the other hand, we also give a somewhat universally general type‐2 fuzzy model of computing with (some special) words and establish a retraction principle from computing with words to computing with values for handling crisp inputs in general type‐2 fuzzy setting and a generalized extension principle from computing with words to computing with all words for handling general type‐2 fuzzy inputs.     

一类乘积型区间二型模糊控制器的解析结构

区间二型模糊控制器的降型算法需要使用迭代计算,是导致其解析结构推导困难的主要原因.针对乘积型区间二型模糊控制器,本文提出了一种新的解析结构推导方法.区间二型模糊控制器的配置为:三角形输入模糊集,一型输出模糊单值,集合中心法降型器,平均法解模糊器和基于乘积型"与"操作的规则前件.通过对比传统PID控制器的解析结构,证明了区间二型模糊控制器等效于两个PI(或PD)控制器之和.利用KM算法的迭代终止条件,提出了6步骤IC划分法,保证了激活子空间的正确划分.叠加各个子空间,即可得出全局IC划分图.为了避免重复求解符号数学方程,提出了IC边界线的直接定义法,改进了6步骤IC划分法的便利性.本文方法避开了降型算法的迭代计算,可以保证推导出区间二型模糊控制器的闭环解析表达式.     

Improved adaptive fault‐tolerant control design for hypersonic vehicle based on interval type‐2 T‐S model

This study proposes an improved adaptive fault estimation and accommodation algorithm for a hypersonic flight vehicle that uses an interval type‐2 Takagi‐Sugeno fuzzy model and a quantum switching module. First, an interval type‐2 Takagi‐Sugeno fuzzy model for the hypersonic flight vehicle system with elevator faults is developed to process the nonlinearity and parameter uncertainties. An improved adaptive fault estimation algorithm is then constructed by adding an adjustable parameter. The quantum switching module is also applied to the estimation part to select an appropriate algorithm in different fault cases. The estimation results from the given fuzzy observer are used to design a type‐2 fuzzy fault accommodation controller to stabilize the fuzzy system. The stability of the proposed scheme is analyzed using the Lyapunov stability theory. Finally, the validity and availability of the method are verified by a series of comparisons on numerical simulation results.     

Design of interval type-2 fuzzy sliding-mode controller

In this paper, an interval type-2 fuzzy sliding-mode controller (IT2FSMC) is proposed for linear and nonlinear systems. The proposed IT2FSMC is a combination of the interval type-2 fuzzy logic control (IT2FLC) and the sliding-mode control (SMC) which inherits the benefits of these two methods. The objective of the controller is to allow the system to move to the sliding surface and remain in on it so as to ensure the asymptotic stability of the closed-loop system. The Lyapunov stability method is adopted to verify the stability of the interval type-2 fuzzy sliding-mode controller system. The design procedure of the IT2FSMC is explored in detail. A typical second order linear interval system with 50% parameter variations, an inverted pendulum with variation of pole characteristics, and a Duffing forced oscillation with uncertainty and disturbance are adopted to illustrate the validity of the proposed method. The simulation results show that the IT2FSMC achieves the best tracking performance in comparison with the type-1 Fuzzy logic controller (T1FLC), the IT2FLC, and the type-1 fuzzy sliding-mode controller (T1FSMC).     

Advantages of the Enhanced Opposite Direction Searching Algorithm for Computing the Centroid of An Interval Type‐2 Fuzzy Set

Computing the centroid of an interval type‐2 fuzzy set (IT2 FS) is an important operation in a type‐2 fuzzy logic system (where it is called type‐reduction), but it is also a potentially time‐consuming operation. In this paper, an enhanced opposite direction searching (EODS) algorithm is presented for doing this. The EODS comes from an early version of the IT2 FS type‐reduction method called the opposite direction searching (ODS) algorithm, which has been proven faster than the most commonly used Enhanced Karnik‐Mendel (EKM) method. The EODS differs from the ODS in two high speed formulas for calculating the centroid endings. Quantitative analysis on the mathematical operations and comparisons performed by EODS, ODS, and EKM algorithms shows that EODS could save about 50% of the calculations and comparisons in relation to ODS. Compared with EKM, it could save about 67% to 80% of the calculations and comparisons. Simulation experiments have been performed to compare EODS with the ODS and EKM methods in terms of average CPU time. The experimental results validate the quantitative analysis.     

复杂模糊分类系统的协同进化设计方法

提出一种基于协同进化算法的复杂模糊分类系统的设计方法．该方法由以下3步组成:1)利用Simba算法进行特征变量选择;2)采用模糊聚类算法辨识初始的模糊模型;3)利用协同进化算法对所获得的初始模糊模型进行结构和参数的优化．协同进化算法由三类种群组成;规则数种群,规则前件种群和隶属函数种群;其适应度函数同时考虑模型的精确性和解释性,采用三类种群合作计算的策略．利用该方法对多个典型问题进行分类,仿真结果验证了方法的有效性．     

一种简化的区间二型模糊系统辨识方法

KM降阶算法是目前区间二型模糊集合常用的降阶算法,针对其效率低、难以用于实时辨识与控制的缺点,提出了一种简化的区间二型模糊系统辨识方法。该方法采用二型T-S模糊模型,前件参数为区间二型模糊集合,后件参数为普通T-S模糊模型形式。二型T-S模糊模型的解模糊化采用简化的降阶算法,提高了模型的辨识效率,可用于实时辨识与控制。仿真实例表明,所提算法在不降低辨识精度的情况下能够有效提高辨识效率。     

An interval type‐2 fuzzy trust evaluation model in social commerce

Trust is crucial for purchasing decisions in social commerce. However, inexperienced users may not have a direct trust relation to experienced users in practice. Besides, users tend to give their trust degrees to others with linguistic labels rather than crisp values. To evaluate the trust degree for inexperienced users to experienced ones, we propose an interval type‐2 fuzzy trust evaluation model in this paper. Interval type‐2 fuzzy linguistic labels are used to represent trust degree among users. An interval type‐2 fuzzy Algebraic t‐norm is addressed to compute propagative trust degrees. Considering the effect of trust path length, the induced ordered weighted averaging (IOWA) operator is extended to aggregate the interval type‐2 fuzzy trust degrees obtained from multiple paths. In addition, the final interval type‐2 fuzzy trust degree is transferred into the corresponding linguistic label to help users make decisions more naturally. Finally, a case study in social commerce and a related comparison are given to verify the effectiveness of the proposed model.     

A framework for designing cognitive trajectory controllers using genetically evolved interval type-2 fuzzy cognitive maps

In this paper, we provide a complete framework for the design of genetically evolved cognitive tracking controller based on interval type-2 (IT2) fuzzy cognitive map (FCM). We construct the cognitive controller based on a nonlinear controller by transforming its representation into a FCM. This representation gives the opportunity to prove the stability of the cognitive controller in the framework of nonlinear control theory. Moreover, with the deployment of IT2-fuzzy sets which are known to be capable to handle high level of uncertainty, the proposed cognitive controller has the ability to deal with uncertainty that are encountered in real-time world applications. To accomplish the design of the cognitive controller, we present a systematic approach based on genetic algorithm to optimize its parameters and learn fuzzy rules by extracting them from model space (e.g., a set of rules). Within the paper, all steps in constructing and designing the IT2-FCM-based cognitive controller are presented. We first show the performance improvements of the proposed IT2-FCM-based tracking controller with extensive and comparative simulation results and then with experimental results that were collected on real-world mobile robot. The results clearly show the superiority of proposed cognitive control systems when compared to its conventional and fuzzy controller counterparts. We believe that the proposed genetically evolved design approach of the IT2-FCM-based cognitive controller will provide a bridge between the well-developed cognitive sciences and control theory.     

Parameter Optimization of Interval Type-2 Fuzzy Neural Networks Based on PSO and BBBC Methods

Interval type-2 fuzzy neural networks (IT2FNNs) can be seen as the hybridization of interval type-2 fuzzy systems (IT2FSs) and neural networks (NNs). Thus, they naturally inherit the merits of both IT2FSs and NNs. Although IT2FNNs have more advantages in processing uncertain, incomplete, or imprecise information compared to their type-1 counterparts, a large number of parameters need to be tuned in the IT2FNNs, which increases the difficulties of their design. In this paper, big bang-big crunch (BBBC) optimization and particle swarm optimization (PSO) are applied in the parameter optimization for Takagi-Sugeno-Kang (TSK) type IT2FNNs. The employment of the BBBC and PSO strategies can eliminate the need of backpropagation computation. The computing problem is converted to a simple feed-forward IT2FNNs learning. The adoption of the BBBC or the PSO will not only simplify the design of the IT2FNNs, but will also increase identification accuracy when compared with present methods. The proposed optimization based strategies are tested with three types of interval type-2 fuzzy membership functions (IT2FMFs) and deployed on three typical identification models. Simulation results certify the effectiveness of the proposed parameter optimization methods for the IT2FNNs.      

Robust Adaptive Fuzzy Control of Nonlinear Systems with Unknown and Time‐Varying Saturation

In this paper, a robust adaptive fuzzy control approach is proposed for a class of nonlinear systems in strict‐feedback form with the unknown time‐varying saturation input. To deal with the time‐varying saturation problem, a novel controller separation approach is proposed in the literature to separate the desired control signal from the practical constrained control input. Furthermore, an optimized adaptation method is applied to the dynamic surface control design to reduce the number of adaptive parameters. By utilizing the Lyapunov synthesis, the fuzzy logic system technique and the Nussbaum function technique, an adaptive fuzzy control algorithm is constructed to guarantee that all the signals in the closed‐loop control system remain semiglobally uniformly ultimately bounded, and the tracking error is driven to an adjustable neighborhood of the origin. Finally, some numerical examples are provided to validate the effectiveness of the proposed control scheme in the literature.     

Hybrid learning for interval type-2 fuzzy logic systems based on orthogonal least-squares and back-propagation methods

This paper presents a novel learning methodology based on a hybrid algorithm for interval type-2 fuzzy logic systems. Since only the back-propagation method has been proposed in the literature for the tuning of both the antecedent and the consequent parameters of type-2 fuzzy logic systems, a hybrid learning algorithm has been developed. The hybrid method uses a recursive orthogonal least-squares method for tuning the consequent parameters and the back-propagation method for tuning the antecedent parameters. Systems were tested for three types of inputs: (a) interval singleton, (b) interval type-1 non-singleton, and (c) interval type-2 non-singleton. Experiments were carried out on the application of hybrid interval type-2 fuzzy logic systems for prediction of the scale breaker entry temperature in a real hot strip mill for three different types of coil. The results proved the feasibility of the systems developed here for scale breaker entry temperature prediction. Comparison with type-1 fuzzy logic systems shows that hybrid learning interval type-2 fuzzy logic systems provide improved performance under the conditions tested.     

Stability Analysis and Controller Design of Discrete Interval Type‐2 Fuzzy Systems

This paper is concerned with trajectory stabilization of a computer simulated model car with uncertain velocity via type‐2 fuzzy control systems. First, stability conditions of discrete interval type‐2 fuzzy control systems are given in accordance with the definition of stability in the sense of Lyapunov. Then, we approximate a computer simulated model car, whose dynamics are nonlinear and velocity is uncertain. A type‐2 Takagi–Sugeno TS fuzzy controller is designed to handle system uncertainty. The control rules, which guarantee stability of the system, are derived from the approximated model. The simulation results show that the type‐2 fuzzy control rules can effectively stabilize the car model.     

A hybrid learning algorithm for a class of interval type-2 fuzzy neural networks

In real life, information about the world is uncertain and imprecise. The cause of this uncertainty is due to: deficiencies on given information, the fuzzy nature of our perception of events and objects, and on the limitations of the models we use to explain the world. The development of new methods for dealing with information with uncertainty is crucial for solving real life problems. In this paper three interval type-2 fuzzy neural network (IT2FNN) architectures are proposed, with hybrid learning algorithm techniques (gradient descent backpropagation and gradient descent with adaptive learning rate backpropagation). At the antecedents layer, a interval type-2 fuzzy neuron (IT2FN) model is used, and in case of the consequents layer an interval type-1 fuzzy neuron model (IT1FN), in order to fuzzify the rule’s antecedents and consequents of an interval type-2 Takagi-Sugeno-Kang fuzzy inference system (IT2-TSK-FIS). IT2-TSK-FIS is integrated in an adaptive neural network, in order to take advantage the best of both models. This provides a high order intuitive mechanism for representing imperfect information by means of use of fuzzy If-Then rules, in addition to handling uncertainty and imprecision. On the other hand, neural networks are highly adaptable, with learning and generalization capabilities. Experimental results are divided in two kinds: in the first one a non-linear identification problem for control systems is simulated, here a comparative analysis of learning architectures IT2FNN and ANFIS is done. For the second kind, a non-linear Mackey-Glass chaotic time series prediction problem with uncertainty sources is studied. Finally, IT2FNN proved to be more efficient mechanism for modeling real-world problems.     

New exponential operational laws and their aggregation operators for interval‐valued Pythagorean fuzzy multicriteria decision‐making

In this article, we define two new exponential operational laws about the interval‐valued Pythagorean fuzzy set (IVPFS) and their corresponding aggregation operators. However, the exponential parameters (weights) of all the existing operational laws of IVPFSs are crisp values in IVPFS decision‐making problems. As a supplement, this paper first introduces new exponential operational laws of IVPFS, where bases are crisp values or interval numbers and exponents are interval‐valued Pythagorean fuzzy numbers. The prominent characteristic of these proposed operations is studied. Based on these laws, we develop some new weighted aggregation operators, namely the interval‐valued Pythagorean fuzzy weighted exponential averaging operator and the dual interval‐valued Pythagorean fuzzy weighted exponential averaging. Finally, a decision‐making approach is presented based on these operators and illustrated with some numerical examples to validate the developed approach.     

An interval number distance- and ranking-based method for remotely sensed image fuzzy clustering

ABSTRACT

Fuzzy c-means clustering is an important non-supervised classification method for remote-sensing images and is based on type-1 fuzzy set theory. Type-1 fuzzy sets use singleton values to express the membership grade; therefore, such sets cannot describe the uncertainty of the membership grade. Interval type-2 fuzzy c-means (IT2FCM) clustering and relevant methods are based on interval type-2 fuzzy sets. Real vectors are used to describe the clustering centres, and the average values of the upper and lower membership grades are used to determine the classification of each pixel. Thus, the width information for interval clustering centres and interval membership grades are ignored. The main contribution of this article is to propose an improved IT2FCM* algorithm by adopting interval number distance (IND) and ranking methods, which use the width information of interval clustering centres and interval membership grades, thus distinguishing this method from existing fuzzy clustering methods. Three different IND definitions are tested, and the distance definition proposed by Li shows the best performance. The second contribution of this work is that two fuzzy cluster validity indices, FS- and XB-, are improved using the IND. Three types of multi/hyperspectral remote-sensing data sets are used to test this algorithm, and the experimental results show that the IT2FCM* algorithm based on the IND proposed by Li performs better than the IT2FCM algorithm using four cluster validity indices, the confusion matrix, and the kappa coefficient (κ). Additionally, the improved FS- index has more indicative ability than the original FS- index.     

New results about the centroid of an interval type-2 fuzzy set, including the centroid of a fuzzy granule

The centroid of an interval type-2 fuzzy set (IT2 FS) provides a measure of the uncertainty of such a FS. Its calculation is very widely used in interval type-2 fuzzy logic systems. In this paper, we present properties about the centroid of an IT2 FS. We also illustrate many of the general results for a T2 fuzzy granule (FG) in order to develop some understanding about the uncertainty of the FG in terms of its vertical and horizontal dimensions. At present, the T2 FG is the only IT2 FS for which it is possible to obtain closed-form formulas for the centroid, and those formulas are in this paper.     

Robust decentralized adaptive fuzzy control for a class of large‐scale MIMO nonlinear systems

In this paper, a novel decentralized robust adaptive fuzzy control scheme is proposed for a class of large‐scale multiple‐input multiple‐output uncertain nonlinear systems. By virtue of fuzzy logic systems and the regularized inverse matrix, the decentralized robust indirect adaptive fuzzy controller is developed such that the controller singularity problem is addressed under a united design framework; no a priori knowledge of the bounds on lumped uncertainties are being required. The closed‐loop large‐scale system is proved to be asymptotically stable. Simulation results confirmed the validity of the approach presented. Copyright © 2011 John Wiley & Sons, Ltd.     

A procedure for the generation of interval type-2 membership functions from data

This paper proposes a new interval type-2 fuzzy set taking extended π interval type-2 membership function (IT2 MF) as its values, and presents a new procedure for generating a set of extended π IT2 MFs from data for an interval type-2 linguistic variable. An extended π IT2 MF is defined as the min and max of two extended π (type-1 or ordinary) membership functions. The procedure has the following steps: (i) for each interval type-2 linguistic variable, specifying the number of membership functions to be generated, i.e. the granularity level, (ii) choosing two fuzzy exponents to be used, (iii) for each fuzzy exponent, applying the fuzzy c-means variant (FCMV) proposed by Liao et al. [1] to obtain the corresponding centers and membership values, and (iv) carrying out parametric optimization by applying a metaheuristic or a hybrid metaheuristic algorithm to determine the optimal parameters associated with the extended π IT2 MFs so that the mean squared error (MSE) or sum of squared errors (SSE) between the membership values obtained by FCMV and those predicted by the extended π IT2 MFs is minimized. The proposed procedure was illustrated with an example and further tested with iris data and weld data. The effects of using two different interval distance measures and the cluster means obtained by the FCMV as part of the initial solutions in the differential evolution metaheuristic were also investigated and discussed.