Deep Hierarchical Interval Type 2 Self-Organizing Fuzzy System for Data-Driven Robot Control

Abstract

To solve the dimensional explosion problem, this paper proposes a new architecture for the fuzzy system, the deep hierarchical self-organizing interval type-2 fuzzy system (DHSOIT2FS). Each sub-fuzzy system is a self-organizing interval type-2 fuzzy system, constructed online, with rules constructed by a rule online update algorithm, consequent parameters updated by iterative least squares, and antecedent parameters are updated using a gradient descent algorithm. DHSOIT2FS uses a classic serial-layered structure to build the overall framework. The first layer uses the first two dimensions of data as input. Each subsequent layer uses the output of the previous layer with the next dimensional data as input until it is built. During the training process, each data point is trained with DHSOIT2FS before passing in the next data point to achieve online construction. The effectiveness of the approach in this paper is illustrated using two numerical simulation examples. The proposed method is also applied to a data-driven control example of a single-link robot and achieves good tracking results.