Type-2 fuzzy logic controllers made even simpler : from design to deployment for UAVs

• Main Authors: Sarabakha, Andriy, Fu, Changhong, Kayacan, Erdal, Kumbasar, Tufan
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Mechanical engineering; Design and Deployment; Interval Type-2 (IT2) Fuzzy Logic Control
• Online Access: https://hdl.handle.net/10356/140065
• Institution: Nanyang Technological University

This paper aims to provide a clear explanation of the role of the footprint of uncertainty (FOU) parameters on the control signal generation and, thus, to increase the interpretability of specially structured interval type-2 (IT2) fuzzy logic controllers, namely single input IT2 fuzzy PID (SI-IT2-FPID) controller. In this context, we extend the analysis performed for SI-IT2-FPID controllers by providing the effect of the FOU parameters on control surface (CS) generation. We show that, by only adjusting a single parameter that shapes the FOU, it is possible to generate commonly employed CSs without a requirement of an optimization assistance. In order to validate our theoretical analysis, we present comparative real world quadcopter flight tests. The real-time experimental results show that the SI-IT2-FPID controller can achieve better control performance in the presence of uncertainties and strong wind conditions when compared to its type-1 and conventional counterparts. We believe that the results of this study will open the doors to a wider use of SI-IT2-FPID controllers in real world control applications as the proposed structure is easy to design and feasible to deploy, especially in real-time control systems.