Generalization to Type 2 of PSO-Optimized Type 1 PD Fuzzy Controller and its Application to a Quadrotor UAV
Received: 30 November 2024 | Revised: 22 January 2025 and 9 February 2025 | Accepted: 10 February 2025 | Online: 3 April 2025
Corresponding author: Kheireddine Chafaa
Abstract
This study presents a new Type 2 fuzzy logic (interval-valued fuzzy logic) control system for a Vertical Take Off and Landing (VTOL) quadrotor. The goal of the control design is to obtain robust and stable tracking of the desired angles in the presence of disturbances and noises. The membership functions relative to the linguistic variables of the fuzzy if-then rules are chosen to control the quadrotor to track a reference trajectory. The Particle Swarm Optimization (PSO) method is used to optimize controller-free parameters. The results obtained from an extensive simulation study show that the quadrotor can operate autonomously in flight with stable orientation. The performance of the controller was evaluated for both Type 1 and Type 2 fuzzy controllers. The simulation results show the effectiveness of the proposed controller and its better performance.
Keywords:
PSO, type 1 fuzzy logic, type 2 fuzzy logic, quadrotors, unmanned aerial vehicleDownloads
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Copyright (c) 2025 Meriem Benbrahim, Moufid Bouhentala, Mouna Ghanai, Kheireddine Chafaa, Najib Essounbouli
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