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.

中文翻译：

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基于区间2型模糊控制器的单轮车真实世界控制

摘要 在这项研究中，一种新颖的自适应区间 2 型模糊控制器 (AIT2FC) 用于单轮车辆 (SWV) 控制问题。提出了一种供骑在 SWV 上的人使用的控制技术，该技术能够对电动独轮车进行真实世界的平衡控制。提议的 SWV 可以保持平衡和移动。而且，当人骑在上面时，它也可以在任何位置稳定站立，而不会接触地面。AIT2FC 是传统的类 Mamdani 模糊控制器的高级版本。AIT2FC 参数使用智能动态调整方法在线调整。此外，自适应律的参数学习率是使用稳定性算法确定的，以保证系统误差收敛。此外，还实现了基于带有一些手工硬件电路的微控制器的 SWV。最后，