Development of an Interval Type-2 TSK Fuzzy Logic Attitude Controller for a UAV

Due to the inaccuracies of UAV models and the uncertainties introduced because of sensor measurement errors, noise, undesired environmental conditions as well as disturbances, stabilizing UAVs in real-time applications is a challenging task. Fuzzy logic controllers (FLCs) are capable of controlling a system without knowing much about the details of it's mathematical description. Particularly, type-2 FLCs are capable of effectively capturing and accommodating uncertainties. In this paper, therefore, we develop an interval type-2 (IT2) Takagi-Sugeno-Kang (TSK) fuzzy logic attitude controller for enhancing the performance of a quadcopter UAV. The effectiveness of the developed IT2 TSK FLC is verified by applying it to a software in the loop (SITL) simulation of a quadcopter UAV. The performance of the UAV when using the developed IT2 TSK FLC is compared with it's performance when using a classical PID controller.