Fuzzy Nested Saturation Attitude Control of the PVTOL

In this paper, the Nested Saturation Control technique, designed for stabilization of the PVTOL-UAV, is complemented using a Fuzzy Logic Control algorithm with the objective of improving the convergence time and performance in closed loop. The amplitude of the saturation function is adjusted during execution on the Fuzzy-NSC, having the error and its derivative as feedback information. Then, using the dynamical model with the controllers F-NSC and NSC, the results are obtained using numerical simulation and a comparison between them is done, whose results are given in terms of performance parameters.