Adaptive Fuzzy Control Method for a Single Tilt Tricopter

This article proposes an adaptive fuzzy gain scheduling (FSG) design of the traditional proportional integral derivative (PID) control method by using fuzzy logic rules to schedule controlled gains at different phases. Owing to minimization of the tracking error of the controller design using three parameters and the integral of time weighted-squared error (ITSE) minima criterion of the controller design process, the fuzzy rules of the triangular membership functions are exploited online to verify the PID controller gains in different operated scheduling modes. For that reason, the controller designs can be used to tune the system models during the whole operation time period to enable efficient error tracking. The continuous genetic algorithm (GA) is considered an innovation because in it, the decode chromosome step is totally neglected. Owing to this improvement, it is superior to the standard GA because it requires less storage and enables naturally faster convergence. In this research, the controlled parameters were optimized using the continuous GA to enhance the efficiency of the proposed method. Thereafter, it was implemented to a single tilt Tricopter model to test whether the control performance is better when compared with the conventional PID control method.