Direct Fuzzy Logic Controller Combined with Fast Terminal Sliding Mode for a Bicopter

This work relates to the modelling and control of an unmanned aerial vehicle (UAV), a bicopter, using a direct Takagi-Sugeno (T-S) fuzzy logic controller adapted to fast terminal sliding mode control (FTSMC) method, which aims to reduce the high nonlinearity problem and uncertainties faced in the design of the bicopter system. The primary step is the mathematical model determination, then we apply the fuzzy system to directly control the bicopter system based on FTSMC. The control laws related to the system states are generated by the analysis of the system stability through the Lyapunov approach. Finally, the flight attitude tracking of the bicopter is evaluated by simulating the obtained outcomes and thus verifying the robustness and accuracy of the provided control approach.