Backstepping sliding mode control based on adaptive type-3 fuzzy system of a transformable quadcopter

Transformable quadcopter is widely used in several industries because to their unique attributes. Controlling underactuated transformable quadcopter systems has several problems, including satisfying rigorous trajectory tracking demands and ensuring stability amidst morphology variations, time-varying disturbances, and uncertainties. This work outlines the development of an adaptive type-3 fuzzy backstepping sliding mode control (AT3FBSMC) method. This solution addresses the challenge of path following in a transformable quadcopter aircraft affected by external disturbances and parametric uncertainties. Adaptive type-3 inference systems are used to estimate an unknown nonlinear backstepping sliding mode controller reliant on the precise model of the transformable quadcopter. The Lyapunov direct technique is used to demonstrate the stability of the whole system. The closed-loop system guarantees the Uniformly Ultimately Bounded (UUB) stability of all signals. The proposed control approach ensures the achievement of a designated trajectory while mitigating the impacts of morphology variations, external disturbances, and uncertainties. Simulation results are conducted to evaluate the effectiveness of the proposed approach in various real-world scenarios and to demonstrate its superior performance compared to other control systems.