Comparative Study of Conventional and Interval Type-2 Fuzzy Logic Controllers for in Lego Mindstorms Ev3 Humanoids

Recently, fuzzy logic has allowed complex systems to be designed and controlled more effectively than traditional approaches, since it provides a simple way to handle noisy or imprecise information. Nowadays, one of the great problems in the speed control cases is to make the decision to use a fuzzy logic control (FLC) system instead of a conventional controller system as a Proportional Integral (PI) and Integral-Derivative (PID). This chapter presents a comparative study using three types of controllers, FLC, PI and PID, applied to the speed control of a Robot built using the ev3 Lego Mindstorms kit. Matlab and Simulink were used to validate the performance of the speed control obtained with the controller proposed in this paper. This particular type of robot has some similarities to Humanoid robots as it needs to move autonomously avoiding obstacles, so we plan to later implement the fuzzy controllers on larger and more complex Humanoid robots.