A novel approach to UAV control: Fuzzy PID-based ANFIS (FPIDANFIS)

Abstract

This paper presents a novel hybrid control strategy, the Fuzzy PID based Adaptive Neuro-Fuzzy Inference System (FPIDANFIS), designed to enhance the trajectory tracking performance of Unmanned Aerial Vehicles (UAVs). The distinct contribution of this work lies in its data-driven design approach: historical input-output data from a baseline Fuzzy PID (FPID) controller using tracking error and its derivative as inputs and FPID control signals as outputs are leveraged to train an ANFIS model that autonomously generates the adaptive FPIDANFIS controller. This methodology differs from existing studies by enabling the new controller to inherit the baseline controller's behavior while introducing adaptive capabilities not present in conventional FPID frameworks. A dataset of 5001 samples is generated using MATLAB's Neuro-Fuzzy Designer toolbox for offline training with a hybrid learning algorithm and Gaussian membership functions. Once trained, FPIDANFIS dynamically tunes control actions in real time, improving robustness and adaptability under uncertainty. The controller is evaluated across three scenarios: nominal trajectory tracking, tracking with input disturbances, and tracking under parameter variations. Performance is quantified using the Integral of Time-weighted Absolute Error (ITAE). Simulation results show that FPIDANFIS outperforms the baseline FPID controller, achieving a 42% ITAE reduction under disturbances and a 22.12% reduction under parameter variations. The proposed method introduces a data-driven, adaptive extension of the FPID framework and demonstrates significant improvements in UAV trajectory tracking accuracy, making it suitable for applications requiring precise and robust maneuverability.