Nonsingular Terminal Sliding Mode Control With Ultra-Local Model and Single Input Interval Type-2 Fuzzy Logic Control for Pitch Control of Wind Turbines

As wind energy is becoming one of the fastestgrowing renewable energy resources,controlling large-scale wind turbines remains a challenging task due to its system model nonlinearities and high external uncertainties.The main goal of the current work is to propose an intelligent control of the wind turbine system without the need for model identification.For this purpose,a novel model-independent nonsingular terminal slidingmode control(MINTSMC)using the basic principles of the ultralocal model(ULM)and combined with the single input interval type-2 fuzzy logic control(SIT2-FLC)is developed for non-linear wind turbine pitch angle control.In the suggested control framework,the MINTSMC scheme is designed to regulate the wind turbine speed rotor,and a sliding-mode(SM)observer is adopted to estimate the unknown phenomena of the ULM.The auxiliary SIT2-FLC is added in the model-independent control structure to improve the rotor speed regulation and compensate for the SM observation estimation error.Extensive examinations and comparative analyses were made using a real-time softwarein-the-loop(RT-SiL)based on the dSPACE 1202 board to appraise the efficiency and applicability of the suggested modelindependent scheme in a real-time testbed.

Study of Interval Type-2 Fuzzy Controller for the Twin-tank Water Level System

For dealing with large static error due to poor immunity of the traditional fuzzy control, a novel interval type-2 fuzzy control system is proposed. By extending the typical membership functions to interval type-2 membership functions, the proposed control system can efficiently reduce the uncertain disturbance from real environment without increasing the design complexity. The simulation results on the water tank level control system showed that the proposed method succeeded in better static and dynamic control with stronger robust performance than the traditional fuzzy control method.

A Novel Green Supplier Selection Method Based on the Interval Type-2 Fuzzy Prioritized Choquet Bonferroni Means

In view of the environment competencies,selecting the optimal green supplier is one of the crucial issues for enterprises,and multi-criteria decision-making(MCDM)methodologies can more easily solve this green supplier selection(GSS)problem.In addition,prioritized aggregation(PA)operator can focus on the prioritization relationship over the criteria,Choquet integral(CI)operator can fully take account of the importance of criteria and the interactions among them,and Bonferroni mean(BM)operator can capture the interrelationships of criteria.However,most existing researches cannot simultaneously consider the interactions,interrelationships and prioritizations over the criteria,which are involved in the GSS process.Moreover,the interval type-2 fuzzy set(IT2FS)is a more effective tool to represent the fuzziness.Therefore,based on the advantages of PA,CI,BM and IT2FS,in this paper,the interval type-2 fuzzy prioritized Choquet normalized weighted BM operators with fuzzy measure and generalized prioritized measure are proposed,and some properties are discussed.Then,a novel MCDM approach for GSS based upon the presented operators is developed,and detailed decision steps are given.Finally,the applicability and practicability of the proposed methodology are demonstrated by its application in the shared-bike GSS and by comparisons with other methods.The advantages of the proposed method are that it can consider interactions,interrelationships and prioritizations over the criteria simultaneously.

Optimization of Interval Type-2 Fuzzy Logic System Using Grasshopper Optimization Algorithm

The estimation of the fuzzy membership function parameters for interval type 2 fuzzy logic system(IT2-FLS)is a challenging task in the presence of uncertainty and imprecision.Grasshopper optimization algorithm(GOA)is a fresh population based meta-heuristic algorithm that mimics the swarming behavior of grasshoppers in nature,which has good convergence ability towards optima.The main objective of this paper is to apply GOA to estimate the optimal parameters of the Gaussian membership function in an IT2-FLS.The antecedent part parameters(Gaussian membership function parameters)are encoded as a population of artificial swarm of grasshoppers and optimized using its algorithm.Tuning of the consequent part parameters are accomplished using extreme learning machine.The optimized IT2-FLS(GOAIT2FELM)obtained the optimal premise parameters based on tuned consequent part parameters and is then applied on the Australian national electricity market data for the forecasting of electricity loads and prices.The forecasting performance of the proposed model is compared with other population-based optimized IT2-FLS including genetic algorithm and artificial bee colony optimization algorithm.Analysis of the performance,on the same data-sets,reveals that the proposed GOAIT2FELM could be a better approach for improving the accuracy of the IT2-FLS as compared to other variants of the optimized IT2-FLS.

Sustainability Evaluation of Modern Photovoltaic Agriculture Based on Interval Type-2 Fuzzy AHP-TOPSIS and Least Squares Support Vector Machine Optimized by Fireworks Algorithm

Photovoltaics(PV)has been combined with many other industries,such as agriculture.But there are many problems for the sustainability of PV agriculture.Timely and accurate sustainability evaluation of modern photovoltaic agriculture is of great significance for accelerating the sustainable development of modern photovoltaic agriculture.In order to improve the timeliness and accuracy of evaluation,this paper proposes an evaluation model based on interval type-2 Fuzzy AHP-TOPSIS and least squares support vector machine optimized by fireworks algorithm.Firstly,the criteria system of modern photovoltaic agriculture sustainability is constructed from three dimensions including technology sustainability,economic sustainability and social sustainability.Then,analytic hierarchy process(AHP)and technique for order preference by similarity to an ideal solution(TOPSIS)methods are improved by using interval type-2 fuzzy theory,and the traditional evaluation model based on interval type-2 Fuzzy AHP-TOPSIS is obtained,and the improved model is used for comprehensive evaluation.After that,the optimal parameters of least squares support vector machine(LSSVM)model are obtained by Fireworks algorithm(FWA)training,and the intelligent evaluationmodel for the sustainability of modern photovoltaic agriculture is constructed to realize fast and intelligent calculation.Finally,an empirical analysis is conducted to demonstrate the scientificity and accuracy of the proposed model.This study is conducive to the comprehensive evaluation of the sustainability of modern photovoltaic agriculture,and can provide decision-making support for more reasonable development model in the future of modern photovoltaic agriculture.

PSO type-reduction method for geometric interval type-2 fuzzy logic systems

In a special case of type-2 fuzzy logic systems （FLS）, i.e. geometric inteIval type-2 fuzzy logic systems （GIT-2FLS）, the crisp output is obtained by computing the geometric center of footprint of uncertainly （FOU） without type-reduction, but the defuzzifying method acts against the corner concepts of type-2 fuzzy sets in some cases. In this paper, a PSO type-reduction method for GIT-2FLS based on the particle swarm optimization （PSO） algorithm is presented. With the PSO type-reduction, the inference principle of geometric interval FLS operating on the continuous domain is consistent with that of traditional interval type-2 FLS operating on the discrete domain. With comparative experiments, it is proved that the PSO type-reduction exhibits good performance, and is a satisfactory complement for the theory of GIT-2FLS.

Using a 3D Interval Type-2 Fuzzy Interpolation System to Improve Modeless Robots Measurement and Calibration Accuracy

This paper is an extended research for a novel technique used in the pose error compensations of the robot and manipulator calibration process based on an IT2FEI （interval type-2 fuzzy error interpolation） method. Robot calibrations can be classified into model-based and modeless methods. A model-based calibration method normally requires that the practitioners understand the kinematics of the robot therefore may pose a challenger for field engineers. An alternative yet effective means for robot calibration is to use a modeless method; however with such a method there is a conflict between the calibration accuracy of the robot and the number of grid points used in the calibration task. In this paper, an interval type-2 fuzzy interpolation system is applied to improve the compensation accuracy of the robot in its 3D workspace. An on-line type-2 fuzzy inference system is implemented to meet the needs of on-line robot trajectory planning and control. The simulated results given in this paper show that not only robot compensation accuracy can be greatly improved, but also the calibration process can be significantly simplified, and it is more suitable for practical applications.

Interval Type-2 Fuzzy Model for Intelligent Fire Intensity Detection Algorithm with Decision Making in Low-Power Devices

Local markets in East Africa have been destroyed by raging fires,leading to the loss of life and property in the nearby communities.Electrical circuits,arson,and neglected charcoal stoves are the major causes of these fires.Previous methods,i.e.,satellites,are expensive to maintain and cause unnecessary delays.Also,unit-smoke detectors are highly prone to false alerts.In this paper,an Interval Type-2 TSK fuzzy model for an intelligent lightweight fire intensity detection algorithm with decision-making in low-power devices is proposed using a sparse inference rules approach.A free open–source MATLAB/Simulink fuzzy toolbox integrated into MATLAB 2018a is used to investigate the performance of the Interval Type-2 fuzzy model.Two crisp input parameters,namely:FIT and FIG��are used.Results show that the Interval Type-2 model achieved an accuracy value of FIO�=98.2%,MAE=1.3010,MSE=1.6938 and RMSE=1.3015 using regression analysis.The study shall assist the firefighting personnel in fully understanding and mitigating the current level of fire danger.As a result,the proposed solution can be fully implemented in low-cost,low-power fire detection systems to monitor the state of fire with improved accuracy and reduced false alerts.Through informed decision-making in low-cost fire detection devices,early warning notifications can be provided to aid in the rapid evacuation of people,thereby improving fire safety surveillance,management,and protection for the market community.

Long-term Traffic Volume Prediction Based on K-means Gaussian Interval Type-2 Fuzzy Sets

This paper uses Gaussian interval type-2 fuzzy se theory on historical traffic volume data processing to obtain a 24-hour prediction of traffic volume with high precision. A K-means clustering method is used in this paper to get 5 minutes traffic volume variation as input data for the Gaussian interval type-2 fuzzy sets which can reflect the distribution of historical traffic volume in one statistical period. Moreover, the cluster with the largest collection of data obtained by K-means clustering method is calculated to get the key parameters of type-2 fuzzy sets, mean and standard deviation of the Gaussian membership function.Using the range of data as the input of Gaussian interval type-2 fuzzy sets leads to the range of traffic volume forecasting output with the ability of describing the possible range of the traffic volume as well as the traffic volume prediction data with high accuracy. The simulation results show that the average relative error is reduced to 8% based on the combined K-means Gaussian interval type-2 fuzzy sets forecasting method. The fluctuation range in terms of an upper and a lower forecasting traffic volume completely envelopes the actual traffic volume and reproduces the fluctuation range of traffic flow.

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 IT2 FSs and NNs. Although IT2 FNNs 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 IT2 FNNs,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 IT2 FNNs. 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 IT2 FNNs learning. The adoption of the BBBC or the PSO will not only simplify the design of the IT2 FNNs, 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 IT2 FNNs.

Adaptive control using interval Type-2 fuzzy logic for uncertain nonlinear systems

A new adaptive Type-2 （T2） fuzzy controller was developed and its potential performance advantage over adaptive Type-1 （T1） fuzzy control was also quantified in computer simulation. Base on the Lyapunov method, the adaptive laws with guaranteed system stability and convergence were developed. The controller updates its parameters online using the laws to control a system and tracks its output command trajectory. The simulation study involving the popular inverted pendulum control problem shows theoretically predicted system stability and good tracking performance. And the comparison simulation experiments subjected to white noige or step disturbance indicate that the T2 controller is better than the T1 controller by 0--18%, depending on the experiment condition and performance measure.

Fire monitoring in coal mines using wireless underground sensor network and interval type-2 fuzzy logic controller

From the view of underground coal mining safety system, it is extremely important to continuous monitoring of coal mines for the prompt detection of fires or related problems inspite of its uncertainty and imprecise characteristics. Therefore, evaluation and inferring the data perfectly to prevent fire related accidental risk in underground coal mining (UMC) system are very necessary. In the present article, we have proposed a novel type-2 fuzzy logic system (T2FLS) for the prediction of fire intensity and its risk assessment for risk reduction in an underground coal mine. Recently, for the observation of underground coal mines, wireless underground sensor network (WUSN) are being concerned frequently. To implement this technique IT2FLS, main functional components are sensor nodes which are installed in coal mines to accumulate different imprecise environmental data like, temperature, relative humidity, different gas concentrations etc. and these are sent to a base station which is connected to the ground observation system through network. In the present context, a WUSN based fire monitoring system is developed using fuzzy logic approach to enhance the consistency in decision making system to improve the risk chances of fire during coal mining. We have taken Mamdani IT2FLS as fuzzy model on coal mine monitoring data to consider real-time decision making (DM). It is predicted from the simulated results that the recommended system is highly acceptable and amenable in the case of fire hazard safety with compared to the wired and off-line monitoring system for UMC. Legitimacy of the suggested model is prepared using statistical analysis and multiple linear regression analysis.

Traffic Flow Data Forecasting Based on Interval Type-2 Fuzzy Sets Theory

This paper proposes a long-term forecasting scheme and implementation method based on the interval type-2 fuzzy sets theory for traffic flow data. The type-2 fuzzy sets have advantages in modeling uncertainties because their membership functions are fuzzy. The scheme includes traffic flow data preprocessing module, type-2 fuzzification operation module and long-term traffic flow data forecasting output module, in which the Interval Approach acts as the core algorithm. The central limit theorem is adopted to convert point data of mass traffic flow in some time range into interval data of the same time range (also called confidence interval data) which is being used as the input of interval approach. The confidence interval data retain the uncertainty and randomness of traffic flow, meanwhile reduce the influence of noise from the detection data. The proposed scheme gets not only the traffic flow forecasting result but also can show the possible range of traffic flow variation with high precision using upper and lower limit forecasting result. The effectiveness of the proposed scheme is verified using the actual sample application. © 2014 Chinese Association of Automation.

A simplified adaptive interval Type-2 fuzzy control in practical industrial application

Adaptive Type-2 fuzzy control possesses control performance better than the traditional adaptive fuzzy control.However,heavy computation burden obviously blocks the utilization of adaptive Type-2 fuzzy control in industrial application.By adopting novel piecewise fuzzy sets and center-average type-reduction,a simplified adaptive interval Type-2 fuzzy controller involving less computation is developed for practical industrial application.In the proposed controller,the inputs are divided into several subintervals and then two piecewise fuzzy sets are used for each subinterval.With the manner of piecewise fuzzy sets and a novel fuzzy rules inference engine,only part of fuzzy rules are simultaneously activated in one control loop,which exponentially decreases the computation and makes the controller appropriate in industrial application.The simulation and experimental study,involving the popular magnetic levitation platform,shows the predicted system with theoretical stability and good tracking performance.The analysis indicates that there is far less computation of the proposed controller than the traditional adaptive interval Type-2 fuzzy controller,especially when the number of fuzzy rules and fuzzy sets is large,and the controller still maintains good control performance as the traditional one.

Interval Type-2 Fuzzy Hierarchical Adaptive Cruise Following-Control for Intelligent Vehicles

Intelligent vehicles can effectively improve traffic congestion and road traffic safety.Adaptive cruise followingcontrol(ACFC)is a vital part of intelligent vehicles.In this paper,a new hierarchical vehicle-following control strategy is presented by synthesizing the variable time headway model,type-2 fuzzy control,feedforward+fuzzy proportion integration(PI)feedback(F+FPIF)control,and inverse longitudinal dynamics model of vehicles.Firstly,a traditional variable time headway model is improved considering the acceleration of the lead car.Secondly,an interval type-2 fuzzy logic controller(IT2 FLC)is designed for the upper structure of the ACFC system to simulate the driver's operating habits.To reduce the nonlinear influence and improve the tracking accuracy for the desired acceleration,the control strategy of F+FPIF is given for the lower control structure.Thirdly,the lower control method proposed in this paper is compared with the fuzzy PI control and the traditional method(no lower controller for tracking desired acceleration)separately.Meanwhile,the proportion integration differentiation(PID),linear quadratic regulator(LQR),subsection function control(SFC)and type-1 fuzzy logic control(T1 FLC)are respectively compared with the IT2 FLC in control performance under different scenes.Finally,the simulation results show the effectiveness of IT2 FLC for the upper structure and F+FPIF control for the lower structure.

Linguistic Dynamic Modeling and Analysis of Psychological Health State Using Interval Type-2 Fuzzy Sets

The study of psychological health state is helpful to build appropriate models and take effective intervention strategies, and the results benefit the intervened released from psychological distress within the shortest possible time. In this paper, interval type-2 fuzzy sets and fuzzy comprehension evaluation are applied in the analysis of mental health status and crisis intervention. A closed-loop linguistic dynamic intervention model for psychological health state is built. Linguistic dynamic systems based on interval type-2 fuzzy sets are used to describe and analyze the evolutionary process of psychological health status. © 2014 Chinese Association of Automation.

Interval Type-2 Fuzzy PD Tracking Control of Flexible-Joint Robots

This paper develops a novel interval type-2 fuzzy Proportional-Derivative (PD) control scheme for electrically driven flexible-joint robots using the direct method of Lyapunov. The controller has a simple design in a decentralized structure. Compared to the previous controllers reported for the flexible-joint robots which use two control loops, it has a simpler structure using only one control loop. It guarantees stability and provides a good tracking performance. The controller considers the whole robotic system including the manipulator and motors by applying the voltage control strategy. Stability analysis is presented and the effectiveness of the proposed control approach is demonstrated by simulations using a three link flexible-joint robot driven by permanent magnet DC motors. Simulation results show that the interval type-2 fuzzy PD controller can handle external disturbance better than the type-1 fuzzy PD controller. In addition, it spends less control effort than the type-1 in order to deal with disturbance.

Interval Type-2 Fuzzy Logic Control of Mobile Robots

Navigation of autonomous mobile robots in dynamic and unknown environments needs to take into account different kinds of uncertainties. Type-1 fuzzy logic research has been largely used in the control of mobile robots. However, type-1 fuzzy control presents limitations in handling those uncertainties as it uses precise fuzzy sets. Indeed type-1 fuzzy sets cannot deal with linguistic and numerical uncertainties associated with either the mechanical aspect of robots, or with dynamic changing environment or with knowledge used in the phase of conception of a fuzzy system. Recently many researchers have applied type-2 fuzzy logic to improve performance. As control using type-2 fuzzy sets represents a new generation of fuzzy controllers in mobile robotic issue, it is interesting to present the performances that can offer type-2 fuzzy sets by regards to type-1 fuzzy sets. The paper presented deep and new comparisons between the two sides of fuzzy logic and demonstrated the great interest in controlling mobile robot using type-2 fuzzy logic. We deal with the design of new controllers for mobile robots using type-2 fuzzy logic in the navigation process in unknown and dynamic environments. The dynamicity of the environment is depicted by the presence of other dynamic robots. The performances of the proposed controllers are represented by both simulations and experimental results, and discussed over graphical paths and numerical analysis.

Multi-objective vendor managed inventory system with interval type-2 fuzzy demand and order quantities

Purpose-The proposed IT2FMOVMI model intends to concurrently minimize total cost and warehouse space for the single vendor-retailer,multi-item and a consolidated vendor store.Regarding demand and order quantities with the deterministic and type-1 fuzzy numbers,we have also formulated the classic/crisp MOVMI model and type-1 fuzzy MOVMI(T1FMOVMI)model.The suggested solution technique can solve both crisp MOVMIand T1FMOVMIproblems.By finding the optimal ordered quantities and backorder levels,the Paretofronts are constructed to form the solution sets for the three models.Design/methodology/approach-A multi-objective vendor managed inventory(MOVMI)is the most recognized marketing and delivery technique for the service provider and the retail in the supply chain in Industry 4.0.Due to the evolving market conditions,the characteristics of the individual product,the delivery period and the manufacturing costs,the demand rate and order quantity of the MOVMI device are highly unpredictable.In such a scenario,a MOVMI system with a deterministic demand rate and order quantity cannot be designed to estimate the highly unforeseen cost of the problem.This paper introduces a novel interval type-2 fuzzy multi-objective vendor managed inventory(IT2FMOVMI)system,which uses interval type-2 fuzzy numbers(IT2FNs)to represent demand rate and order quantities.As the model is an NP-hard,the well-known meta-heuristic algorithm named NSGA-II(Non-dominated sorted genetic algorithm-II)with EKM(Enhanced Karnink-Mendel)algorithm based solution method has been established.Findings-The experimental simulations for the five test problems that demonstrated distinct conditions are considered from the real-datasets of SAPCO company.Experimental study concludes that T1FMOVMI and crisp MOVMI schemes are outclassed by IT2FMOVMI model,offering more accurate Pareto-Fronts and efficiency measurement values.Originality/value-Using fuzzy sets theory,a significant amount of work has been already done in past decades from various points of views to model the MOVMI.However,this is the very first attempt to introduce type-2 fuzzy modelling for the problem to address the realistic implementation of the imprecise parameters.