Biblio

In this paper, the adaptive event-triggered asymptotic tracking control with guaranteed performance for a single link robot manipulator (SLRM) system driven by the brush DC motor is studied. Fuzzy logic systems (FLS) is used to approximate unknown nonlinear functions. By introducing a finite time performance function (FTPF), the tracking error of the system can converge to the compact set of the origin in finite time. In addition, by introducing the smooth function and some positive integral functions, combined with the boundary estimation method and adaptive backstepping technique, the asymptotic tracking control of the system is realized. Meanwhile, event-triggered mechanism is introduced to reduce the network resources of the system. Finally, a practical example is given to prove the effectiveness of the theoretical research.

In recent year, there has been a growing need for intelligent systems that not only are able to provide reliable classifications but can also produce explanations for the decisions they make. The demand for increased explainability has led to the emergence of explainable artificial intelligence (XAI) as a specific research field. In this context, fuzzy logic systems represent a promising tool thanks to their inherently interpretable structure. The use of a rule-base and linguistic terms, in fact, have allowed researchers to create models that are able to produce explanations in natural language for each of the classifications they make. So far, however, designing systems that make use of interval type-2 (IT2) fuzzy logic and also give explanations for their outputs has been very challenging, partially due to the presence of the type-reduction step. In this paper, it will be shown how constrained interval type-2 (CIT2) fuzzy sets represent a valid alternative to conventional interval type-2 sets in order to address this issue. Through the analysis of two case studies from the medical domain, it is shown how explainable CIT2 classifiers are produced. These systems can explain which rules contributed to the creation of each of the endpoints of the output interval centroid, while showing (in these examples) the same level of accuracy as their IT2 counterpart.