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

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Sarabakha A., Fu C., Kayacan E., Kumbasar T.

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, vol.65, no.6, pp.5069-5077, 2018 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 65 Issue: 6
  • Publication Date: 2018
  • Doi Number: 10.1109/tie.2017.2767546
  • Page Numbers: pp.5069-5077


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.