SIRMs connected type-2 fuzzy-genetic backing up control of the truck-trailer system

Backing up control of the truck-trailer system, which is nonlinear and unstable, is a well-known benchmark for examining the nonlinear control design techniques. This paper presents a single-input-rule-modules (SIRMs) connected type-2 fuzzy logic control scheme for this nonlinear multi-variable system. And, to improve the control performance, genetic algorithms (GAs) are adopted for the optimization of the controller parameters. At last, in order to demonstrate the effectiveness and superiority of the proposed control scheme, simulations and comparisons are given. Simulation results show that the designed fuzzy controller can smoothly achieve backing up control of the truck-trailer from all initial positions. Comparisons with type-1 fuzzy controllers demonstrate that the type-2 fuzzy controller with more parameters can provide better performance.