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Optimal Setting of Membership Functions for Interval Type-2 Fuzzy Tracking Controllers Using a Shark Smell Metaheuristic Algorithm

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Abstract

This article describes the application of a variant of the shark smell optimization (VSSO) biological inspired algorithm in the optimal design of a type-2 fuzzy controller. We show how the performance of VSSO is based on the frontal and rotational movement of the shark when navigating a dimensional search domain, which is based on the food-seeking behavior of sharks. The optimization of the design of a Mamdani interval type-2 fuzzy controller (IT2-FLC) applying VSSO is also described. The optimized controller is tested with the navigation of an autonomous mobile robot (AMR) in an unknown and changing environment. This work was developed as follows: first, the VSSO algorithm is improved by adjusting its main alpha and beta parameters with a fuzzy system, later the parameter values of the fuzzy controller input/output membership functions are optimized. Finally, a comparison is made between the results of type-1 (T1) and interval type-2 fuzzy controllers applying the proposed methodology. When comparing the T1 and IT2-FLC controllers, the application of the VSSO algorithm in T1-FLC shows good performance in robot navigation; however, IT2-FLC presents better performance due to its ability to handle higher levels of uncertainty. The performance evaluation of the proposed method and its application in different navigation problems has been carried out through computer simulations using Matlab-Simulink.

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Authors and Affiliations

  1. Tijuana Institute of Technology, Tijuana, BC, Mexico

    Felizardo Cuevas, Oscar Castillo & Prometeo Cortes

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  1. Felizardo Cuevas
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  2. Oscar Castillo
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  3. Prometeo Cortes
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Correspondence to Oscar Castillo.

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Cuevas, F., Castillo, O. & Cortes, P. Optimal Setting of Membership Functions for Interval Type-2 Fuzzy Tracking Controllers Using a Shark Smell Metaheuristic Algorithm. Int. J. Fuzzy Syst. 24, 799–822 (2022). https://doi.org/10.1007/s40815-021-01136-4

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  • DOI: https://doi.org/10.1007/s40815-021-01136-4

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