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Attitude control of Fixed-Wing Unmanned Aerial Vehicles (FW UAVs) presents significant challenges due to external forces, structural deformation, nonlinearities, and uncertainties. To address these complexities, this paper considers the application of Interval Type-2 Fuzzy Logic Controllers (IT2 FLC), where six different IT2 FLC-like PID schemes designed for pitch and roll angle control are investigated, considering actuator saturation and nonlinear dynamics. Particle Swarm Optimization (PSO) is used to optimize the scaling factors of the controllers to increase their effectiveness and provide a fair comparison. The proposed controllers are tested under ideal conditions, wind disturbances, and dynamic parameter variations to evaluate their performance and robustness. The results show that the PD-IT2 FLC-PI and PD-IT2 FLC + I controllers perform better under ideal conditions while demonstrating stability and robustness. This comprehensive comparative study provides valuable findings on the suitability of certain IT2 FLC-like PID controllers for FW-UAV attitude control, considering real-world disturbances and uncertainties.

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Comparative Analysis of Different IT2 FLC-Like PID Schemes for Pitch and Roll Control of a Fixed-Wing UAV

  • 会议论文

  • 发表日期：

    2025年

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  • Abdessamad El Mobaraky,
  • Khalid Kouiss,
  • Ahmed Chebak

摘要

Attitude control of Fixed-Wing Unmanned Aerial Vehicles (FW UAVs) presents significant challenges due to external forces, structural deformation, nonlinearities, and uncertainties. To address these complexities, this paper considers the application of Interval Type-2 Fuzzy Logic Controllers (IT2 FLC), where six different IT2 FLC-like PID schemes designed for pitch and roll angle control are investigated, considering actuator saturation and nonlinear dynamics. Particle Swarm Optimization (PSO) is used to optimize the scaling factors of the controllers to increase their effectiveness and provide a fair comparison. The proposed controllers are tested under ideal conditions, wind disturbances, and dynamic parameter variations to evaluate their performance and robustness. The results show that the PD-IT2 FLC-PI and PD-IT2 FLC + I controllers perform better under ideal conditions while demonstrating stability and robustness. This comprehensive comparative study provides valuable findings on the suitability of certain IT2 FLC-like PID controllers for FW-UAV attitude control, considering real-world disturbances and uncertainties.