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                <term xml:lang="en">Mekki</term>
                <term xml:lang="en">4Y octocopter</term>
                <term xml:lang="en">adaptive control</term>
                <term xml:lang="en">sliding mode control</term>
                <term xml:lang="en">fault-tolerant control</term>
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                <term xml:lang="en">M.F. Adaptive Integral Sliding Mode Control with Chattering type-2 fuzzy system</term>
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                <term xml:lang="en">L.</term>
                <term xml:lang="en">Benyettou</term>
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                <term xml:lang="en">A. Mekki</term>
                <term xml:lang="en">H. Benyettou</term>
                <term xml:lang="en">L. Benkhoris</term>
                <term xml:lang="en">M.F. Adaptive Integral Sliding Mode Control with Chattering type-2 fuzzy system type-1 fuzzy system fault-tolerant control sliding mode control adaptive control 4Y octocopter</term>
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                <term xml:lang="en">Rahali</term>
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              <p>This paper presents a control strategy for a 4Y octocopter aircraft that is influenced by multiple actuator faults and external disturbances. The approach relies on a disturbance observer, adaptive type-2 fuzzy sliding mode control scheme, and type-1 fuzzy inference system. The proposed control approach is distinct from other tactics for controlling unmanned aerial vehicles because it can simultaneously compensate for actuator faults and external disturbances. The suggested control technique incorporates adaptive control parameters in both continuous and discontinuous control components. This enables the production of appropriate control signals to manage actuator faults and parametric uncertainties without relying only on the robust discontinuous control approach of sliding mode control. Additionally, a type-1 fuzzy logic system is used to build a fuzzy hitting control law to eliminate the occurrence of chattering phenomena on the integral sliding mode control. In addition, in order to keep the discontinuous control gain in sliding mode control at a small value, a nonlinear disturbance observer is constructed and integrated to mitigate the influence of external disturbances. Moreover, stability analysis of the proposed control method using Lyapunov theory showcases its potential to uphold system tracking performance and minimize tracking errors under specified conditions. The simulation results demonstrate that the proposed control strategy can significantly reduce the chattering effect and provide accurate trajectory tracking in the presence of actuator faults. Furthermore, the efficacy of the recommended control strategy is shown by comparative simulation results of 4Y octocopter under different failing and uncertain settings.</p>
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