The Development of a Type-2 Fuzzy Algorithm for Quadplane Attitude Control System in VTOL to Cruising Transition
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Abstract
The Quadplane uncrewed aerial vehicle (UAV) is a combination of a quadcopter system and a conventional aircraft. The Quadplane UAV has three phases: vertical take-off, transition, and cruise. In the transition phase, the Quadplane Tilt-rotor tilts the two front motor axes for forward propulsion. During this transition phase, the aircraft’s balance changes, potentially causing it to crash. This study proposes using a type-2 fuzzy control method. The type-2 fuzzy control method is better at handling uncertainties in the Quadplane, known as the Footprint of Uncertainties (FOU), than the type-1 fuzzy method. In this study, simulations were conducted using MATLAB Simulink, and the results of the type-2 fuzzy control method and the PID method from previous studies were compared. The results of the z-position tracking response using the type-2 fuzzy method yield a rise time of ±3 s, an overshoot of <2%, and a steady-state error of ±0.5 m. The results of the x-position tracking response using the type-2 fuzzy method yield a rise time of ±2.5 s, an overshoot of almost 0%, and a steady-state error of <0.2 m. The results of the Quadplane pitch angle position tracking response using the type-2 fuzzy method produce a rise-time value of ±1.5 s, overshoot ±0.05°, steady state error ±0.02Overall, the type-2 fuzzy controller is proven to be more effective, accurate, and efficient in controlling the hybrid Quadplane in the transition phase, so it is worthy of being implemented in a real prototype with hardware-in-the-loop testing as further research.
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