Design of an Adaptive Interval Type-2 Fuzzy Logic Controller for the Position Control of a Servo System with an Intelligent Sensor

Type-2 fuzzy logic systems are proposed as an alternative solution in the literature when a system has a large amount of uncertainties and type-1 fuzzy systems come to the limits of their performances. In this study, an adaptive type-2 fuzzy-neuro system is designed for the position control of a servo system with an intelligent sensor. The sensor gives different resistance values with respect to the stretch of it, and it is supposed to be used in an robotic arm position measurement system. These kinds of sensors can be used in human-assistance robots that have soft surfaces in order not to damage the humans. However, these sensors have time-varying gains and uncertainties that are not very easy to handle. Moreover, they generally have a hysteresis on their input-output relations. The simulation results show that the control algorithm developed gives better performances when compared to conventional type-1 fuzzy controllers on such a highly nonlinear, uncertain system.