Advance in the efficiency of type 2 fuzzy controller in embedded systems and application for control two-wheel self-balancing robot
Type-2 Fuzzy Logic Controllers do not have the disadvantages of Conventional Fuzzy Logic Controllers, and are widely used in many control areas. However, using it to build embedded systems is accompanied by a large number of rules that increase the processing time and sometimes confusion, reducing the efficiency of the operating system in real time. To eliminate this disadvantage in the paper proposed the new structure of Type- 2 Fuzzy Logic Controller is proposed block based fuzzy controller to reduce the number of rules, and reduce the complexity and increase the reliability of the system control. The proposed controller is based on a fuzzy mass with a small number of fuzzy rules, due to the reduced number of input and output variables. The advantages of the new fuzzy controller are illustrated by the example of the embedded control system of the Self-Balancing Robot. The performance comparison of the proposed block based fuzzy controller shows that the rules of Type-2 Fuzzy Controller is less than twice the number rule of the conventional Type-2 Fuzzy Controller. This increases the yield by 45%, proving the feasibility of the actual application of the proposed controller