Title : ( Autoencoders for Input Reduction in Interval Type-2 Hyperbolic Fuzzy System Identification and Control: Experimental Results )
Authors: Behnaz Mohammadi , Nazanin Ildarabadi ,Access to full-text not allowed by authors
Abstract
One of the main challenges in real-time robot control is its computational complexity and poor performance due to environmental uncertainties and nonlinearities. Interval Type-2 Generalized Fuzzy Hyperbolic Systems (IT2-GFHS) offer a simpler inferencing process but at the cost of increased number of inputs. However, numerous inputs could lead to decreased accuracy and lower efficiency. This article presents an Interval Type-2 Generalized Fuzzy Hyperbolic Neural Network System (IT2-GFHNS) that utilizes an Autoencoder neural network to reduce the number of inputs and improve the system performance. The effectiveness of the proposed method is first examined through simulations on a quadcopter and then experimentally implemented on an EMG-driven Robotic Follower, where the system identification is achieved using IT2-GFHNS. Additionally, the sliding mode is employed as a quadcopter control mechanism, and PID control is utilized for an EMG-driven robot. This method outperforms IT2-GFHS in terms of reducing tracking error, even with the increasing number of inputs.
Keywords
, Autoencoder, Follower robotic, Interval type-2 generalized fuzzy hyperbolic systems, Uncertainty.@inproceedings{paperid:1102682,
author = {Mohammadi , Behnaz and Ildarabadi, Nazanin},
title = {Autoencoders for Input Reduction in Interval Type-2 Hyperbolic Fuzzy System Identification and Control: Experimental Results},
booktitle = {2024 32nd International Conference on Electrical Engieering},
year = {2024},
location = {تهران, IRAN},
keywords = {Autoencoder; Follower robotic; Interval type-2 generalized fuzzy hyperbolic systems; Uncertainty.},
}
%0 Conference Proceedings
%T Autoencoders for Input Reduction in Interval Type-2 Hyperbolic Fuzzy System Identification and Control: Experimental Results
%A Mohammadi , Behnaz
%A Ildarabadi, Nazanin
%J 2024 32nd International Conference on Electrical Engieering
%D 2024