  Type-1 fuzzy logic has frequently been used in control systems. However this
method is sometimes shown to be too restrictive and unable to adapt in the
presence of uncertainty. In this paper we compare type-1 fuzzy control with
several other fuzzy approaches under a range of uncertain conditions. Interval
type-2 and non-stationary fuzzy controllers are compared, along with 'dual
surface' type-2 control, named due to utilising both the lower and upper values
produced from standard interval type-2 systems. We tune a type-1 controller,
then derive the membership functions and footprints of uncertainty from the
type-1 system and evaluate them using a simulated autonomous sailing problem
with varying amounts of environmental uncertainty. We show that while these
more sophisticated controllers can produce better performance than the type-1
controller, this is not guaranteed and that selection of Footprint of
Uncertainty (FOU) size has a large effect on this relative performance.
