Lyapunov-Stable Adaptive Fractional-Order Interval Type-2 Fuzzy Control for Robust Anti-Lock Braking Under Uncertain Road Adhesion Conditions

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Year : 2026 | Volume : 17 | 02 | Page :
    By

    Dr. N.B. Mahesh Kumar,

  1. Associate Professor, Department of Artificial Intelligence and Data Science, Hindusthan Institute of Technology, (of Affiliation Anna University), Coimbatore, India

Abstract

This paper proposes a Lyapunov-stable Adaptive Fractional-Order Interval Type-2 Fuzzy Logic Controller (FO-IT2FLC) for robust anti-lock braking system (ABS) control under nonlinear vehicle dynamics and uncertain road adhesion conditions. The proposed framework integrates fractional-order error dynamics to capture memory-dependent tire–road interaction, interval Type-2 fuzzy inference to model uncertainty via footprint-of-uncertainty representation, and a Lyapunov-based adaptive learning mechanism for real-time parameter tuning. A rigorous stability proof guarantees boundedness of all closed-loop signals and asymptotic convergence of slip tracking error. Extensive MATLAB/Simulink simulations under dry, wet, snow, icy, and abrupt friction transition scenarios demonstrate superior transient response, reduced overshoot, improved disturbance rejection, and shorter braking distance compared to PID, Type-1 FLC, and conventional IT2FLC controllers. Monte Carlo analysis under ±20% parametric uncertainty confirms strong robustness. Additionally, performance assessment criteria such as control effort optimisation, stopping distance minimisation, and wheel slip regulation show constant efficacy throughout a range of operating situations. Accurate tracking is made possible by the adaptive fractional-order structure, which improves controller responsiveness and flexibility even in the face of abrupt changes in road friction characteristics. Improved stability margins and quicker convergence rates are shown by comparative analysis, demonstrating the controller’s capacity to sustain ideal brake performance in the face of significant uncertainty and outside disruptions. The proposed FO-IT2FLC offers a theoretically grounded and computationally viable solution for next-generation intelligent braking systems in advanced driver assistance and autonomous vehicles.

Keywords: Anti-lock braking system (ABS), Fractional-order control, Interval Type-2 fuzzy logic, Adaptive learning, Lyapunov stability, Wheel slip regulation, Nonlinear vehicle dynamics, Robust control.

How to cite this article:
Dr. N.B. Mahesh Kumar. Lyapunov-Stable Adaptive Fractional-Order Interval Type-2 Fuzzy Control for Robust Anti-Lock Braking Under Uncertain Road Adhesion Conditions. Journal of Control & Instrumentation. 2026; 17(02):-.
How to cite this URL:
Dr. N.B. Mahesh Kumar. Lyapunov-Stable Adaptive Fractional-Order Interval Type-2 Fuzzy Control for Robust Anti-Lock Braking Under Uncertain Road Adhesion Conditions. Journal of Control & Instrumentation. 2026; 17(02):-. Available from: https://journals.stmjournals.com/joci/article=2026/view=246721


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Ahead of Print Subscription Review Article
Volume 17
02
Received 23/05/2026
Accepted 12/06/2026
Published 15/06/2026
Publication Time 23 Days
15

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