Abstract
In this study, a novel adaptive interval type-2 fuzzy controller (AIT2FC) is used for a single-wheel vehicle (SWV) control problem. A control technique for use by a person riding on an SWV that enables real-world balance control of electric unicycles is proposed. The proposed SWV can keep balance and move around. Moreover, it can also stand up stably in any position when a person rides on it without touching the ground. AIT2FC is an advanced version of the traditional Mamdani-like fuzzy controller. The AIT2FC parameters are adjusted online using an intelligent dynamic tuning method. Moreover, the parameter learning rates of the adaptive laws are determined using a stability algorithm to guarantee the system error convergence. Furthermore, an SWV based on a microcontroller with some handmade hardware circuits is implemented. Finally, the efficiency of the AIT2FC is proved by real-time control of SWVs.
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