Design of Hedge Algebra Controller for Pendubot with Uncertainties

Abstract

This paper presents the design and simulation of a Hedge Algebra Control (HAC) strategy for the pendubot under uncertain conditions. The proposed control approach leverages the mathematical framework of hedge. Through simulation, the HAC-based controller demonstrates robust performance in stabilizing the pendubot, achieving precise trajectory tracking, and ensuring smooth control actions. The results validate the feasibility and efficiency of HAC in dealing with underactuated and uncertain dynamic systems.