Sliding Mode Control Based on Interval Type-2 Fuzzy-Neural Network Controller for an Uav Type Quadrotor

In this paper, a robust controller for a Six Degrees of Freedom (6 DOF) quadrotor helicopter control is proposed. Neural Networks (NN), Interval Type-2 Fuzzy Logic Control approach (IT2FLC) and Sliding Mode Control (SMC) technique are used to design a controller, named Neural Network Interval Type-2 Fuzzy Sliding Mode Controller (NNIT2FSMC), for each subsystem of the quadrotor helicopter. The proposed control scheme allows avoiding difficult modeling, attenuating the chattering effect of the SMC, reducing the rules number of the fuzzy controller, and guaranteeing the stability and the robustness of the system. The simulation results show that the NNIT2FSMC can greatly alleviate the chattering effect and is sufficiently robust with respect to the external disturbances.