I. Introduction
In the urban transportation system, a large portion of traffic congestion and delay occur at the intersections. Traffic signal control plays an important role in mitigating traffic congestion. Fuzzy logic, which models control based on human expert experience and knowledge, has been successfully applied to many automatic control tasks. The application of fuzzy logic in the time-variant traffic control system is firstly started by Pappis[1] in 1977, and many researchers [2]–[6] use fuzzy control technology for the traffic control system.