UAV Power Line Tracking Control Based on a Type-2 Fuzzy-PID Approach

Abstract

A challenge for inspecting transmission power lines with Unmanned Aerial Vehicles (UAVs) is to precisely determine their position and orientation, considering that the geo-location of these elements via GPS often needs to be more consistent. Therefore, a viable alternative is to use visual information from cameras attached to the central part of the UAV, enabling a control technique that allows the lines to be positioned at the center of the image. Therefore, this work proposes a PID (proportional–integral–derivative) controller tuned through interval type-2 fuzzy logic (IT2_PID) for the transmission line follower problem. The PID gains are selected online as the position and orientation errors and their respective derivatives change. The methodology was built in Python with the Robot Operating System (ROS) interface. The key point of the proposed methodology is its easy reproducibility, since the designed control loop does not require the mathematical model of the UAV. The tests were performed using the Gazebo simulator. The outcomes demonstrated that the proposed type-2 fuzzy variant displayed lower error values for both stabilization tests (keeping the UAV centered and oriented with the lines) and the following step in which the trajectory is time-variant, compared to the analogous T1_PID control and a classical PID controller tuned by the Zigler–Nichols method.