Purpose This paper aims to propose an optimized type-1 Sugeno fuzzy logic backstepping sliding mode controller (T1-SFL-BSMC) to control the altitude and rotational behaviour of a quadcopter. The proposed controller improves the performance of the system by overcoming the limitations of conventional trial-and-error techniques for BSMC gain design. Design/methodology/approach In this study, the type-1 Sugeno fuzzy logic controller (T1-SFLC) technique is proposed which dynamically modifies the BSMC gains. In addition, the parameters of T1-SFLC are further tuned by five different optimization techniques, namely, genetic algorithm, particle swarm optimization (PSO), pattern search (PS), simulated annealing (SA) and adaptive neural network (ANN). Findings The effectiveness of these optimization techniques in tuning the T1-SFLCs for the gain scheduled BSMC is evaluated in terms of time response metrics; rising time, settling time and root mean square error (RMSE) for altitude and rotational behaviour. The results demonstrated that PSO-optimized T1-SFL-BSMC provides better responses in terms of time response metrices with reduced rise and settling times and minimized RMSE when compared to other optimized T1-SFL-BSMC. Originality/value This paper proposes a novel approach for controlling quadcopters by combining fuzzy logic with a BSMC. It is then improved by using many optimization strategies. A more dependable and effective approach to controller design is provided by the suggested method, which is essential for unmanned aerial vehicle applications.
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