Hierarchical fuzzy control scheme using structured Takagi-Sugeno type fuzzy inference

In this paper, a hierarchical fuzzy control scheme using structured Takagi-Sugeno type fuzzy logic units is proposed. First, the structured Takagi-Sugeno type fuzzy logic unit is defined where the input variables are divided into the antecedent linguistic variables that have physical meaning and the consequent linguistic variables. Then a new hierarchical fuzzy control scheme using these units is proposed. In contrast with the conventional hierarchical fuzzy control scheme, the proposed one uses only the input variables with clear physical meaning in all of the IF-parts of the fuzzy rules, thereby rendering the involved fuzzy rules easy to interpret and design. The control of ball and beam system is simulated to show the performance of the proposed controller.