Optimized interval type-2 fuzzy global sliding mode control for quadrotor robot

Abstract

This study addresses the challenge of controlling a quadrotor in the presence of external disturbances by introducing a novel optimal interval type-2 fuzzy global sliding mode controller. The proposed controller is a hybrid approach that combines the benefits of Interval Type-2 Fuzzy Logic Control (IT2FLC) and Global Sliding-Mode Control (GSMC). Initially, GSMC is utilized to guarantee that the quadrotor system's initial states begin on the sliding mode surface, thereby enhancing overall robustness. To address the chattering phenomenon commonly observed in conventional SMC approaches, the integration of IT2FLC into the control system is employed to minimize high-frequency switching components. The proposed controller utilizes the Bat Optimization Algorithm (BOA) to achieve optimum performance by simultaneously optimizing the parameters of the controller and the input Membership Functions (MFs) through BOA. The simulation results clearly demonstrate that the proposed controller surpasses a traditional PID controller in terms of tracking performance, especially when facing disturbances.