Kesir Dereceli Aralık Tip-2 Kayan Kipli Bulanık Kontrol ile Yörünge Takibi

Öz

Bu çalışma, ters sarkaç sisteminin yörünge takibi için yeni bir kesir dereceli aralık tip-2 kayan kipli bulanık kontrol (FO-IT2SMFC) şeması önermektedir. Temel yenilik, eğimi kesir dereceli kayan kipli kontrol çerçevesi içine gömülü bir aralık tip-2 bulanık mantık sistemi (IT2FLS) aracılığıyla uyarlamalı olarak ayarlanan, zamana göre değişen kesir dereceli kayan yüzeyin tasarımında yatmaktadır. Bu entegrasyon, kontrolörün sistem belirsizliklerini daha etkin biçimde ele almasını sağlarken çatırdamayı azaltmakta ve yakınsama davranışını iyileştirmektedir. Lyapunov tabanlı kararlılık analizi, sınırlı dış bozucu etkiler altında kapalı döngü sisteminin asimptotik kararlılığını garanti etmektedir. Önerilen şemanın performansı benzetimler aracılığıyla doğrulanmış ve iki kayan kipli kontrol yaklaşımıyla kıyaslanmıştır. Sonuçlar, FO-IT2SMFC'nin üstün yörünge takip doğruluğu elde ettiğini ve birden fazla nicel değerlendirme ölçütü üzerinden diğer yöntemleri tutarlı biçimde geride bıraktığını göstermekte; bu durum, belirsiz doğrusal olmayan sistemlere uygulanabilirliğini ve sağlamlığını doğrulamaktadır.

Anahtar Kelimeler

• Aralık Tip-2 Bulanık Mantık Sistemleri
• Kesir Dereceli Hesaplama
• Kayan Kipli Kontrol

Fractional-order Interval Type-2 Sliding Mode Fuzzy Control for Trajectory Tracking

Öz

This study proposes a novel fractional-order interval type-2 sliding mode fuzzy control (FO-IT2SMFC) scheme for trajectory tracking of an inverted pendulum system. The central innovation lies in the design of a time-varying fractional-order sliding surface, whose slope is adaptively adjusted through an interval type-2 fuzzy logic system (IT2FLS) embedded within the fractional-order sliding mode framework. This integration enables the controller to handle system uncertainties more effectively while reducing chattering and improving convergence behavior. Lyapunov-based stability analysis guarantees the asymptotic stability of the closed-loop system under bounded external disturbances. The performance of the proposed scheme is validated through simulations and benchmarked against two conventional control approaches. Results demonstrate that FO-IT2SMFC achieves superior trajectory tracking accuracy and consistently outperforms competing methods across multiple quantitative evaluation indices, confirming its robustness and applicability to uncertain nonlinear systems.

Anahtar Kelimeler

• Interval Type-2 Fuzzy Logic Systems
• Fractional-order Calculus
• Sliding Mode Control

Kaynakça

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