Interval Type-2 Fuzzy Logic Controller Development for Coreless DC Micromotor Speed Control Applications

The objective of this work is to design, develop and demonstrate optimized fuzzy controllers for processes presenting nonlinearities such as coreless DC micromotors speed control problems, in order to improve the overall control system performance. One type-1 fuzzy logic controller (FLC) and one type-2 FLC (both Tagashi-Sugeno based) were designed and implemented in real time to improve motor speed control performance. For this purpose, a high-end microcontroller was used in which the developed controllers where embedded. The parameters of the input and the output membership functions of the proposed FLCs were optimally tuned using a well-known optimization algorithm, i.e., the particle swarm optimizer (PSO). A comparison of type-1 and type-2 Tagashi-Sugeno fuzzy control architectures is performed in different experimental scenarios and the relevant results are discussed and analyzed. The results demonstrate that type-2 FLC exhibits very satisfactory motor driving capability, providing zero overshoot, faster rise time and low settling time.