Design and Experiment of Interval Type-2 Fuzzy Hierarchical Sliding-Mode Control for Pendubot With Uncertainties
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Bibliographic record
Abstract
In this article, a novel interval type-2 fuzzy hierarchical sliding mode control (IT2FHSMC) is proposed for controlling a pendubot system under uncertain conditions. The proposed methodology involves the construction of a hierarchical sliding-mode controller (HSMC) to provide rapid response and finite-time convergence, resulting in an excellent performance characteristics. Interval type-2 fuzzy logic control is applied to optimize HSMC for avoiding chattering phenomena and reducing the effects of uncertainty or noises. Moreover, key parameters of HSMC are tuned by using the balancing composite motion optimization algorithm. By employing the Lyapunov synthesis technique, the system's overall stability is ensured. Computer simulations and physical experiments are carried out to prove the efficacy of the IT2FHSMC compared with HSMC and type-1 hierarchical sliding-mode control and adaptive backstepping nonsingular fast terminal sliding-mode control for robust fault tolerant control.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it