SLIDING MODE CONTROL - BASED INTERVAL TYPE-2 FUZZY LOGIC CONTROLLER FOR QUADCOPTER UAVs

摘要

Quadcopter UAVs have several complex conditions including nonlinearity, verily coupled, and working area that tend to be subject to disturbances and uncertainties. Sliding Mode Control (SMC), which is one of well-known robust control approaches, is believed to be able in dealing with such issues. However, chattering phenomenon in SMC is still an issue that may lead to performance degradation. Interval Type-2 Fuzzy Logic Control which has the capability to accommodate uncertainties of the system, will play a vital role in eliminating this phenomenon. A combining of the two control methods is investigated in this paper, and the results obtained demonstrate good performance of the approach in dealing with nonlinearity, disturbance, and uncertainty as well as eliminating the chattering phenomenon of SMC.