A comparison of Type-1 and Type-2 fuzzy controllers in a micro-robot context

In this paper we compare the differences between type-1 and interval type-2 fuzzy logic controllers, with seven, five and two three term membership functions. The controllers were used to control a DC motor model in a closed loop simulation. The performance of each controller to a step change and a change in motor inertia with and without added noise was recorded. The results showed that there was no statistical difference between the type-1 and type-2 controllers. It was also found that a type-1 three term controller was as good as a type-1 or type-2 seven term controller, in controlling the micro robot DC motor model.