A Novel Nonlinear Control for Uncertain Polynomial Type-2 Fuzzy Systems (Case Study: Cart-Pole System)

Abstract

In this paper, a new nonlinear adaptive control method for controlling the polynomial type-2 fuzzy systems with uncertain parameters is presented. In this paper, it is assumed that the vector state of the system is not always available, and so it is necessary to first use the observer and, while stabilizing the system, control it with minimal error. The control gain is calculated by using least squares in such a way that the vector of the polynomial type-2 fuzzy system state vector follows the state of a stable reference system. In the simulation, the cart-pole system is considered. This nonlinear complex system first converts to a polynomial type-2 fuzzy model and then is well controlled by the proposed method. Also, changes in parameters and the effect of disturbance have also been studied. The results show that the proposed method is effective.