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<p>The current study presents an optimal fuzzy fractional-order adaptive robust control approach for a category of fourth-order under-actuated nonlinear systems. The basic structure for the controller is the feedback linearization (FBL) method. However, the decoupled sliding mode is utilized to determine the surfaces for calculating adaptive coefficients. Subsequently, fuzzy logic systems and fractional calculus are used to improve the controller’s performance. Furthermore, control coefficients are optimized utilizing the multi-objective salp swarm algorithm (MSSA), which includes two opposing objective functions. The proposed method's effectiveness is ultimately assessed by applying it to an under-actuated nonlinear inverted pendulum system. The outcomes are compared with those documented in the literature.</p>

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An optimal fuzzy fractional-order adaptive robust controller according to feedback linearization for an under-actuated nonlinear inverted pendulum system

  • 期刊论文

  • 发表日期：

    2025年2月23日

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  • S. Moghtader Arbatsofla,
  • A. Hooshang Mazinan,
  • M. J. Mahmoodabadi

摘要

The current study presents an optimal fuzzy fractional-order adaptive robust control approach for a category of fourth-order under-actuated nonlinear systems. The basic structure for the controller is the feedback linearization (FBL) method. However, the decoupled sliding mode is utilized to determine the surfaces for calculating adaptive coefficients. Subsequently, fuzzy logic systems and fractional calculus are used to improve the controller’s performance. Furthermore, control coefficients are optimized utilizing the multi-objective salp swarm algorithm (MSSA), which includes two opposing objective functions. The proposed method's effectiveness is ultimately assessed by applying it to an under-actuated nonlinear inverted pendulum system. The outcomes are compared with those documented in the literature.