Composite Fuzzy-Based Control Strategy for Uncertain Underactuated System

Abstract

Most practical systems are influenced by disturbances and uncertainties within their models, increasing the need for robust control algorithms. Type-2 fuzzy theory and its variant, interval type-2 fuzzy, are well-regarded for their capability to effectively model and manage uncertainties. This paper presents a composite controller that integrates an interval type-2 Takagi-Sugeno fuzzy controller with a PID controller. The fuzzy controller ensures robust and stable system control, while the PID controller significantly enhances system performance. Simulation results demonstrate the superiority of the composite controller over a single fuzzy controller, particularly in the context of a cart-pole system with varying masses.

Keywords

• Interval type-2 TS fuzzy
• system uncertainties
• composite control structure
• cart-pole system