Attitude Control of a Single Tilt Tri-Rotor UAV System: Dynamic Modeling and Each Channel's Nonlinear Controllers Design

Figure 5

Fuzzy logic controllers versus back-stepping controller for each channel: (a) Roll, (b) Pitch, and (c) Yaw, adding disturbance at fifth second.

(a) Add disturbance like windy: −3 degree on Roll channel with previous Phi angle = −5 degree was controlled stability

(b) Add disturbance like windy: −3 degree on Pitch channel with previous Theta angle = −3 degree was controlled stability

(c) Add disturbance like windy: 2 degree on Yaw channel with previous Psi angle = −2 degree was controlled stability