Real-Time Interval Type-2 Fuzzy Control of an Unmanned Aerial Vehicle with Flexible Cable-Connected Payload

This study presents the design and real-time applications of an Interval Type-2 Fuzzy PID (IT2-FPID) control system on unmanned aerial vehicle (UAV) with a flexible cable-connected payload in comparison to Type-1 (T1-FPID) counterparts. The IT2-FPID has significant stability, disturbance rejection, response time advantages. To prove show these advantages, DJI Tello, commercial UAV, is used test robustness PID, T1-FPID, controllers. First, optimal coefficients compared controllers are found using Big Bang–Big Crunch algorithm via nonlinear UAV model without payload. Second, once optimised, tested several scenarios, including disturbing coverage path planning area examine their robustness. Third, controller performance results evaluated according reference achievement point-based tracking under disturbances. Finally, superiority shown simulations experiments better overshoot, faster settling time, good properties rejection T1-FPID