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Development of a Robust Interval Type-2 TSK Fuzzy Logic Controlled UAV Platform

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Abstract

Type-2 Fuzzy Logic Controllers (FLCs) are capable of effectively capturing and accommodating uncertainties and disturbances. However, these controllers generally suffer from high computation costs. This paper develops a robust quadcopter UAV platform, equipped with a new interval type-2 (IT2) Takagi-Sugeno-Kang (TSK) fuzzy logic controller. The advantage of the developed controller is to enhance the robustness of the control structure, while managing the computation costs, making it appropriate for real-time control developments. The developed controller is applied to the attitude control of a UAV, which is relatively a fast dynamical system. The effectiveness of the proposed IT2 TSK FLC is verified through a developed software-in-the-loop (SITL) simulator for a quadcopter UAV. Then, actual flight experiments are conducted. The performance of the UAV when using the developed IT2 TSK FLC iscompared with its performance when using a classical PID controller.

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Data Availability

The data used to support the findings of this study are available from the corresponding author upon request.

Code Availability

The software used to support the findings of this study are available from the corresponding author upon request.

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Acknowledgements

The second author would like to acknowledge the support from the National Science Foundation under the award number 1832110 and Sandia National Laboratories under the contract number 2086781.

Funding

This research is supported by Air Force Research Laboratory and Office of the National Science Foundation under the award number 1832110 and Sandia National Laboratories under the contract number 2086781. The U.S. Government is authorized to reproduce and distribute reprints for Governmental purposes not withstanding any copyright notation thereon. The views and conclusions contained herein are those of the authors and should not be interpreted as necessarily representing the official policies or endorsements, either expressed or implied, of OSD, NSF, or the U.S. Government.

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  1. Department of Electrical and Computer Engineering, North Carolina Agricultural and Technical State University, Greensboro, NC, 27411, USA

    Abel Hailemichael & Ali Karimoddini

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  1. Abel Hailemichael
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Contributions

A. Karimoddini contributed to the conceptualization and supervision of the research, writing (review & editing) of the paper, and funding acquisition. A. Hailemichael contributed to the development of methodology and software as well as writing the original draft. The manuscript was read and approved by all authors.

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Correspondence to Ali Karimoddini.

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Hailemichael, A., Karimoddini, A. Development of a Robust Interval Type-2 TSK Fuzzy Logic Controlled UAV Platform. J Intell Robot Syst 107, 27 (2023). https://doi.org/10.1007/s10846-022-01798-8

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