A novel dual-surface type-2 controller for micro robots

Type-2 fuzzy logic controllers have been used recently for a variety of control problems. In this paper, a novel mechanism is proposed for utilising the lower and upper control surfaces of a conventional interval type-2 fuzzy controller. The new control methodology, termed a `dual-surface' (interval type-2) controller is described and its implementation on micro robots in the context of robot football is presented. Experimental results, both in simulation and in the real world, are presented. It was found that, while the dual-surface controller demonstrated advantages in the simulation experiments, these advantages were not realised in the real-world experiments. We conclude that further and more detailed real-world experiments, in which the real-world uncertainties are carefully considered, are required in order to fully explore whether this novel approach is clearly justified.