ROS Package for Fuzzy Logic Controllers

This is a repository for ROS package containing different fuzzy logic controllers for controlling unmanned aerial vehicles.

If you are using these controllers within the research for your publications, please cite:

@article{SARABAKHA2019105495,
title = "Intuit before tuning: Type-1 and type-2 fuzzy logic controllers",
journal = "Applied Soft Computing",
volume = "81",
pages = "105495",
year = "2019",
issn = "1568-4946",
doi = "https://doi.org/10.1016/j.asoc.2019.105495",
url = "http://www.sciencedirect.com/science/article/pii/S1568494619302650",
author = "Andriy Sarabakha and Changhong Fu and Erdal Kayacan",
keywords = "Type-1 fuzzy logic controllers, Interval type-2 fuzzy logic controllers, Fuzzy mapping, Aerial robotics, Unmanned aerial vehicles",
abstract = "Although a considerable amount of effort has been put in to show that fuzzy logic controllers have exceptional capabilities of dealing with uncertainty, there are still noteworthy concerns, e.g., the design of fuzzy logic controllers is an arduous task due to the lack of closed-form input–output relationships which is a limitation to interpretability of these controllers. The role of design parameters in fuzzy logic controllers, such as position, shape, and height of membership functions, is not straightforward. Motivated by the fact that the availability of an interpretable relationship from input to output will simplify the design procedure of fuzzy logic controllers, the main aims in this work are derive fuzzy mappings for both type-1 and interval type-2 fuzzy logic controllers, analyse them, and eventually benefit from such a nonlinear mapping to design fuzzy logic controllers. Thereafter, simulation and real-time experimental results support the presented theoretical findings."
}