Trajectory tracking of a quadrotor using a robust adaptive type-2 fuzzy neural controller optimized by cuckoo algorithm.

This paper proposes an adaptive and robust adaptive control strategy based on type-2 fuzzy neural network (T2FNN) for tracking the desired trajectories of a quadrotor. The designed methods can control both the position and the orientation of a quadrotor. Contrary to common sliding mode controllers (SMCs), the robust adaptive trajectory tracking scheme presented here is based on SMC with exponential reaching law; which helps reduce the phenomenon of chattering.