This article presents a novel hybrid fuzzy-tuned dual-stage fractional-order (Fo) PI (1 + PDF) controller designed for the robust attitude control of fixed-wing unmanned aerial vehicles (UAVs) under varying aerodynamic uncertainties and wind disturbances. By integrating fractional calculus, dual-stage proportional–integral–derivative (PID) control, and fuzzy logic (FL), the proposed controller aims to enhance performance significantly over traditional methods. The hybrid atom search particle swarm optimization technique is employed to optimize the controller parameters, focusing on minimizing the integral of absolute error (IAE) index. Extensive performance evaluations are conducted across three levels of wind disturbances—light, moderate, and severe—comparing the fuzzy-tuned dual-stage Fo PI (1 + PDF) controller against three alternative strategies: the dual-stage Fo PI (1 + PDF) controller without fuzzy tuning, the dual-stage PI (1 + PDF) controller, and the conventional PID controller. Results demonstrate that under severe wind conditions, the proposed fuzzy-tuned dual-stage Fo PI (1 + PDF) controller significantly enhances control over roll and pitch angles, achieving a 44.7% reduction in IAE, 34.7% improvement in root mean square error (RMSE), and a 65.2% decrease in overshoot for roll control, and a 47.7% reduction in IAE, 42.8% improvement in RMSE, and a 77.1% decrease in overshoot for pitch control, thus validating its efficacy for UAV applications in demanding environmental conditions.
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