Type-2 Fuzzy Logic Controllers Made even Simpler: From Design to Deployment for UAVs

Andriy Sarabakha, Changhong Fu, Erdal Kayacan*, Tufan Kumbasar

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

102 Citations (Scopus)

Abstract

This paper aims to provide a clear explanation of the role of the footprint of uncertainty (FOU) parameters on the control signal generation and, thus, to increase the interpretability of specially structured interval type-2 (IT2) fuzzy logic controllers, namely single input IT2 fuzzy PID (SI-IT2-FPID) controller. In this context, we extend the analysis performed for SI-IT2-FPID controllers by providing the effect of the FOU parameters on control surface (CS) generation. We show that, by only adjusting a single parameter that shapes the FOU, it is possible to generate commonly employed CSs without a requirement of an optimization assistance. In order to validate our theoretical analysis, we present comparative real world quadcopter flight tests. The real-time experimental results show that the SI-IT2-FPID controller can achieve better control performance in the presence of uncertainties and strong wind conditions when compared to its type-1 and conventional counterparts. We believe that the results of this study will open the doors to a wider use of SI-IT2-FPID controllers in real world control applications as the proposed structure is easy to design and feasible to deploy, especially in real-time control systems.

Original languageEnglish
Pages (from-to)5069-5077
Number of pages9
JournalIEEE Transactions on Industrial Electronics
Volume65
Issue number6
DOIs
Publication statusPublished - Jun 2018

Bibliographical note

Publisher Copyright:
© 1982-2012 IEEE.

Funding

Manuscript received April 30, 2017; revised July 27, 2017 and September 9, 2017; accepted October 14, 2017. Date of publication October 27, 2017; date of current version February 13, 2018. This work was supported in part by the ST Engineering–NTU Corporate Lab through the NRF Corporate Lab@University Scheme. (Corresponding author: Erdal Kayacan.) A. Sarabakha and C. Fu are with the School of Mechanical and Aerospace Engineering, Nanyang Technological University (NTU), Singapore 639798, and also with the ST Engineering–NTU Corporate Lab, Singapore 639798 (e-mail: [email protected]; [email protected]).

FundersFunder number
NTU Corporate Lab
National Research Foundation Singapore

    Keywords

    • Design and deployment
    • interval type-2 (IT2) fuzzy logic control
    • three-dimensional (3-D) trajectory tracking
    • unmanned aerial vehicle (UAV)

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