Interval Type-2 Fuzzy PID Cascade Control Of Quadrotor Based On Non-dominated Sorting Genetic Algorithm-II

It is known that interval type-2 fuzzy logic controllers (IT2FLC) with footprint of uncertainty (FOU) in terms of membership function (MF) have been developed as an effective control method to ensure control in systems where uncertainties and nonlinear situations are high, such as quadrotor control, and have been the subject of many studies. Designing and optimizing parameters of IT2FLC controllers is complex and time-consuming. To overcome this situation, an optimization method based on NSGA-Ⅱ (Non-dominated Sorting Genetic Algorithm) was applied. ITAE (Integral Time Absolute Error) was chosen as the performance criterion. IT2FLC-NSGA-PID and NSGA-PID controllers were compared and it was observed that the IT2FLC-NSGA-PID controller gave better results.