Design of a new fuzzy suction controller using fuzzy modeling for nonlinear boundary layer

Kuo Yang Tu*, Tsu Tian Lee, Chi-Hsu Wang

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

8 Scopus citations


There are two types of fuzzy modeling: 1) imitating an expert experiment or fulfilling an engineering knowledge, and 2) modeling a complex or unknown system. In this paper, based on the first type of fuzzy modeling, a new fuzzy suction controller (NFSC) is proposed using its linguistic rules to design nonlinear boundary layer. Two kinds of nonlinear boundary layers are discussed. The first kind is designed by three rules derived according to a new interpretation of the switching conditions for a suction controller such that the new controller reduces chattering and spends less energy than a suction controller does. A design procedure summarizes the NFSC design. The second kind of nonlinear boundary layer is the linguistic rules designed to have sliding sectors to control a mobile robot for trajectory tracking. The discussion emphasizes the advantage of nonlinear boundary layers, compared with traditional suction controllers usually using linear boundary. In addition, the proposed NFSC provides a flexible way to adjust the controller functions using linguistic rules based on the first type of fuzzy modeling.

Original languageEnglish
Article number1516152
Pages (from-to)605-616
Number of pages12
JournalIEEE Transactions on Fuzzy Systems
Issue number5
StatePublished - 1 Oct 2005


  • Fuzzy logic controllers
  • Fuzzy modeling
  • Motion control


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