Procesador Difuso Tipo Dos Empotrado y su Aplicación en el Control del Péndulo Invertido (Embed Type-2 Fuzzy Processor and its Application on Inverted Pendulum Control)

Miguel Alberto Melgarejo Rey (mmelgarejo@udistrital.edu.co), Jefrey Orlando Bulla Blanco (jefrey.bulla@gmail.com), Gina Katherin Sierra Paez (ksierrap@udistrital.edu.co)


Universidad Distrital Francisco Jose de Caldas
This paper appears in: Revista IEEE América Latina

Publication Date: June 2011
Volume: 9,   Issue: 3 
ISSN: 1548-0992


Abstract:
This paper presents some methodological aspects for implementing an interval type-2 fuzzy logic processor over a low cost microcontroller. Is made a detailed description of the processor's computational model, doing particular emphasis in the stage of Type Reduction. The implementation of the processor is caracterized in functional terms and is validated over inverted pendulum control under emulation. The results show that the processor has a speed of inference that guarantee a satisfactory performance over this application, wich is above of a type-1 fuzzy processor.

Index Terms:
type-2 fuzzy systems, fuzzy hardware, embedded systems, fuzzy control.   


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