Control of quadrotor robot via optimized nonlinear type-2 fuzzy fractional PID with fractional filter: Theory and experiment

Abstract

This paper presents a novel approach for controlling quadrotor robots. It introduces an optimized nonlinear fractional order type-2 fuzzy system integrated with a Fractional Order Proportional-Integral-Derivative controller, supplemented by a fractional filter in the derivative section. The input scaling factors, which represent the scaling coefficients associated with the input variables of the fuzzy system, are adjusted using nonlinear gains. The proposed controller combines type-2 fuzzy logic, fractional calculus, and nonlinear gains to enhance the control performance of the system. Its purpose is to provide superior control accuracy, robustness, and disturbance rejection capabilities. In order to enhance the performance of the quadrotor, the Bat Optimization Algorithm is utilized to finely adjust the controller parameters and membership function parameters of the fuzzy system. The fuzzy system incorporates Gaussian membership functions and applies the Mamdani min-max method for inference, utilizing the centroid method for defuzzification. The performance of the controller is evaluated in two scenarios: tracking aerial maneuvers in the presence of wind disturbance, and achieving angular stabilization by tracking a pulse function in the Hardware-In-The-Loop real-time test. The findings demonstrate significant improvements compared to traditional PID controllers. These improvements surpass 34 % without a filter and 53 % with a filter, in all directions and scenarios.