控制理论(社会学)
倒立摆
模糊逻辑
稳健性(进化)
控制器(灌溉)
平滑度
计算机科学
非线性系统
数学
人工智能
控制(管理)
物理
数学分析
基因
生物
化学
量子力学
生物化学
农学
作者
Ethem Kelekçi,Tuğçe Yaren,Selçuk Kizir
标识
DOI:10.1177/01423312221081309
摘要
In this study, an interval type-2 fuzzy logic controller design method is proposed and validated on the real-time under-actuated nonlinear inverted pendulum system for swing-up and stabilization control problems. The swing-up algorithm is designed to give a faster response and the stabilization controller is designed based on continuity, monotonicity, and smoothness theorems for worst and best cases using the Mamdani fuzzy inference system in order to show the effectiveness of the proposed method. Outstanding type reduction methods are analyzed for the stabilization controller based on the design approach to determine the best type reduction algorithm for the effective and robust control performance. Real-time experiments are conducted to investigate the capability of the proposed controller in terms of adaptation performance and robustness ability. The controller also is able to handle structured and unstructured uncertainties such as measurement noise, external payload, undesirable internal/external disturbances, and parameter uncertainties. The results show that the proposed method clearly improves the control performance of the system in six experimental tasks conducted.
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