Interval Type-3 Adaptive Fuzzy Fixed-Time Robust Attitude Control for Fixed-Wing UAV

Abstract

This article presents a robust adaptive controller for the roll, pitch, and yaw angles of a fixed-wing UAV. The controller ensures robustness against external disturbances by employing a time-independent and nonsingular sliding mode controller with variable exponents in the sliding variables. Adaptive terms are incorporated into the control laws to estimate upper bounds of the model uncertainties, while the unknown dynamics are approximated using adaptive interval type-3 fuzzy systems (IT3 FSs). Fixed-time convergence of tracking errors and boundedness of all closed-loop signals are proven through theoretical analysis.