Interval Type II Fuzzy Sliding Mode Controller Tuned With PSO Designed for Attitude Control of Micro Aircraft Vehicle

Abstract

© 2015 SERSC. MAV (Micro Aerial Vehicle) is nonlinear plant, it is difficult to obtain stable control for MAV attitude due to uncertainties. The purpose of this paper is to propose one robust-stable control strategy for MAV to accommodate system uncertainties, variations, and external disturbances. In this paper, an interval type II fuzzy sliding-mode controller combined with PSO algorithm (ITIIFSMC-PSO) is proposed for MAV attitude control system. The proposed ITIIFSMC-PSO is a combination of the interval type II fuzzy logic control (ITIIFLC) and the sliding-mode control (SMC) which inherits the benefits of these two methods, furthermore, PSO algorithm was adopted to tune the type II fuzzy controller's antecedent and consequent parameters for the plant control. The objective of the controller is to ensure the asymptotic stability of the closed-loop system. The Lyapunov stability method is adopted to verify the stability of the ITIIFSMC-PSO system. At last, a Quadrotor MAV with uncertainty and disturbance are adopted to illustrate the validity of the proposed method. The simulation results show that the ITIIFSMC-PSO achieves the best tracking performance in comparison with the interval type II Fuzzy logic controller (ITIIFLC), the interval type II fuzzy sliding-mode controller (ITIIFSMC).