Robust adaptive control of coaxial octorotor UAV using type-1 and interval type-2 fuzzy logic systems

Abstract

In this paper, a robust controller for a Six Degrees of Freedom (6 DOF) coaxial octorotor unmanned aerial vehicle (UAV) control is proposed in presence of the disturbances and uncertainties. Adaptive control theory based on type-1 and interval type-2 Fuzzy inference systems is used to design a controller for each subsystem of the octorotor helicopter. The proposed control scheme allows avoiding the difficult modeling, guaranteeing the stability and the robustness of the system. Exponential stability of the closed loop is guaranteed by using Lyapunov theory. The performance and the effectiveness of the proposed controller, simulation results are confirmed by simulation study.