Real-Time Implementation of an Interval Type-2 Fuzzy Logic Controller for the Trajectory Tracking of an UAV

Abstract

In this study, a Type-2 Fuzzy Logic Controller that directly generates the necessary control signals is used to achieve the trajectory tracking control of an unmanned aerial vehicle (UAV). The proposed control scheme takes the quadcopter's divergence from the given trajectory and its derivative as inputs. A type-1 fuzzy logic controller is also designed and implemented on the quadcopter to assess the performance of the type-2 controller. Real-time flight experiments are conducted for a skewed circular trajectory. The results of these experiments show that the type-2 fuzzy controller provides better transient and steady-state response compared to a conventional fuzzy controller. © 2021 IEEE.