Design of optimized interval type-2 fuzzy logic controller based on the continuity, monotonicity, and smoothness properties for a cart-pole inverted pendulum system

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dc.contributor.authorKelekci E.
dc.contributor.authorYaren T.
dc.contributor.authorKizir S.
dc.date.accessioned2024-07-22T08:04:18Z
dc.date.available2024-07-22T08:04:18Z
dc.date.issued2022
dc.description.abstractIn 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. © The Author(s) 2022.
dc.identifier.DOI-ID10.1177/01423312221081309
dc.identifier.issn01423312
dc.identifier.urihttp://akademikarsiv.cbu.edu.tr:4000/handle/123456789/12652
dc.language.isoEnglish
dc.publisherSAGE Publications Ltd
dc.subjectComputer circuits
dc.subjectDesign
dc.subjectFuzzy inference
dc.subjectPendulums
dc.subjectRobust control
dc.subjectStabilization
dc.subjectUncertainty analysis
dc.subjectContinuity
dc.subjectInterval type-2 fuzzy logic
dc.subjectInterval type-2 fuzzy logic Controllers
dc.subjectInverted pendulum
dc.subjectInverted pendulum system
dc.subjectMonotonicity
dc.subjectSmoothness
dc.subjectStabilization controllers
dc.subjectType reduction
dc.subjectUnder-actuated systems
dc.subjectControllers
dc.titleDesign of optimized interval type-2 fuzzy logic controller based on the continuity, monotonicity, and smoothness properties for a cart-pole inverted pendulum system
dc.typeArticle

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