2025 № 1 Електротехніка і Електромеханіка
Постійне посилання колекціїhttps://repository.kpi.kharkov.ua/handle/KhPI-Press/85226
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Документ Robust adaptive fuzzy type-2 fast terminal sliding mode control of robot manipulators in attendance of actuator faults and payload variation(Національний технічний університет "Харківський політехнічний інститут", 2025) Rahali, H.; Zeghlache, S.; Cherif, B. D. E.; Benyettou, L.; Djerioui, A.This study presents a robust control method for the path following problem of the PUMA560 robot. The technique is based on the Adaptive Fuzzy Type-2 Fast Terminal Sliding Mode Control (AFT2FTSMC) algorithm and is designed to handle actuator faults, uncertainties (such as payload change), and external disturbances. The aim of this study is to utilize the Fast Terminal Sliding Mode Control (FTSMC) approach in order to ensure effective compensation for faults and uncertainties, minimize tracking error, reduce the occurrence of chattering phenomena, and achieve rapid transient response. A novel adaptive fault tolerant Sliding Mode Control (SMC) approach is developed to address the challenges provided by uncertainties and actuator defects in real robotics tasks. Originality. The present work combined the AFT2FTSMC algorithm in order to give robust controllers for trajectory tracking of manipulator’s robot in presence parameters uncertainties, external disturbance, and faults. We use an adaptive fuzzy logic system to estimate the robot’s time-varying, nonlinear, and unfamiliar dynamics. A strong adaptive term is created to counteract actuator defects and approximation errors while also guaranteeing the convergence and stability of the entire robot control system. Novelty. The implemented controller effectively mitigates the chattering problem while maintaining the tracking precision and robustness of the system. The stability analysis has been conducted using the Lyapunov approach. Results. Numerical simulation and capability comparison with other control strategies show the effectiveness of the developed control algorithm.Документ Type-2 fuzzy logic controller-based maximum power point tracking for photovoltaic system(Національний технічний університет "Харківський політехнічний інститут", 2025) Boudia, A.; Messalti, S.; Zeghlache, S.; Harrag, A.Photovoltaic (PV) systems play a crucial role in converting solar energy into electricity, but their efficiency is highly influenced by environmental factors such as irradiance and temperature. To optimize power output, Maximum Power Point Tracking (MPPT) techniques are used. This paper introduces a novel approach utilizing a Type-2 Fuzzy Logic Controller (T2FLC) for MPPT in PV systems. The novelty of the proposed work lies in the development of a T2FLC that offers enhanced adaptability by managing a higher degree of uncertainty, we introduce an original method that calculates the error between the output voltage and a dynamically derived reference voltage, which is obtained using a mathematical equation. This reference voltage adjusts in real-time based on changes in environmental conditions, allowing for more precise and stable MPPT performance. The purpose of this paper is to design and validate the effectiveness of a T2FLC-based MPPT technique for PV systems. This approach seeks to enhance power extraction efficiency in response to dynamic environmental factors such as changing irradiance and temperature. The methods used in this study involve the implementation of T2FLC to adjust the duty cycle of a DC-DC converter for continuous and precise MPPT. The system was simulated under various environmental conditions, comparing the performance of T2FLC against T1FLC. The results show that the T2FLC MPPT system significantly outperforms traditional methods in terms of tracking speed, stability, and power efficiency. T2FLC demonstrated faster convergence to the MPP, reduced oscillations, and higher accuracy in rapidly changing environmental conditions. The findings of this study confirm the practical value of T2FLC logic in improving the efficiency and stability of PV systems, making it a promising solution for enhancing renewable energy technologies.