A PSO-Based Type-2 Fuzzy Logic Controller Designed for Quadrotor Systems

Unmanned aerial vehicles have gained prominence in diverse applications spanning non-military and military domains. Despite their simple mechanical structure, quadrotor UAVs are characterized as nonlinear and under-actuated systems, which has led to a requirement for controllers that are able to overcome these challenges. Intelligent control methods like fuzzy logic have proven to be practical for controlling nonlinear systems. This paper proposes the development of a Type-2 fuzzy controller for addressing the trajectory tracking challenge of a quadrotor. The membership functions of this controller are optimized using the particle swarm optimization (PSO) algorithm based on the uncertainties values. To assess the effectiveness of the proposed controller, a comparative analysis with a type-1 fuzzy controller and a standard PID controller is conducted.