Development of a Robust Interval Type-2 TSK Fuzzy Logic Controlled UAV Platform

Type-2 Fuzzy Logic Controllers (FLCs) are capable of effectively capturing and accommodating uncertainties and disturbances. However, these controllers generally suffer from high computation costs. This paper develops a robust quadcopter UAV platform, equipped with a new interval type-2 (IT2) Takagi-Sugeno-Kang (TSK) fuzzy logic controller. The advantage of the developed controller is to enhance the robustness of the control structure, while managing the computation costs, making it appropriate for real-time control developments. The developed controller is applied to the attitude control of a UAV, which is relatively a fast dynamical system. The effectiveness of the proposed IT2 TSK FLC is verified through a developed software-in-the-loop (SITL) simulator for a quadcopter UAV. Then, actual flight experiments are conducted. The performance of the UAV when using the developed IT2 TSK FLC iscompared with its performance when using a classical PID controller.