Proportional Derivative (PD)-Based Interval Type-2 Fuzzy Control Design of a Quadrotor Unmanned Aerial Vehicle

Abstract

For a decade, the studies and development of dynamic control for quadrotor unmanned aerial vehicles (UAVs) took a large interest and has become one of the most fruitful research areas, where different approaches are proposed dealing with the stability and the nonlinearity issues, which present the most important features of this system. The main goal of this paper is to propose an interval type-2 fuzzy proportional derivative (IT2-FPD) controller for the the position and attitude tracking control of an underactuated quadrotor UAV system in the presence of parametric uncertainties based on fuzzy control theory without the need for model identification. In this context, we will firstly present the analytical formulation of the used IT2-FPD control structure and its output in closed-loop. We will then evaluate the gain adjustments with respect to the Footprint of Uncertainty (FOU) design parameter of the IT2-FLPD controller. The proposed control method has a two-loop structure: inner loop for attitude control and an outer loop for position and altitude control.