Optimization of Linguistic Terms' Shapes and Parameters: Fuzzy Control System of a Quadrotor Drone

Abstract

This study addresses the issues of structural-parametric optimization of the fuzzy control and decision-making systems for intelligent robotics. In particular, the comprehensive approach to structural-parametric optimization of linguistic terms membership functions (LTMF) for fuzzy systems (FS) is proposed, and the case of its application to design process of fuzzy control system for the quadrotor unmanned aerial vehicle (drone) is considered. The presented approach allows determining both the membership functions' optimal shapes and parameters, using the most effectively the advantages of local and global search techniques. The obtained research results confirm the high effectiveness of the proposed approach.