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Driankov, Dimiter
Publications (10 of 14) Show all publications
Kadmiry, B. & Driankov, D. (2004). A Fuzzy Flight Controller Combining Linguistic and Model-based Fuzzy Control. Fuzzy sets and systems (Print), 146(3), 313-347
Open this publication in new window or tab >>A Fuzzy Flight Controller Combining Linguistic and Model-based Fuzzy Control
2004 (English)In: Fuzzy sets and systems (Print), ISSN 0165-0114, E-ISSN 1872-6801, Vol. 146, no 3, p. 313-347Article in journal (Refereed) Published
Abstract [en]

In this paper we address the design of a fuzzy flight controller that achieves stable and robust -aggressive- manoeuvrability for an unmanned helicopter. The fuzzy flight controller proposed consists of a combination of a fuzzy gain scheduler and linguistic (Mamdani-type) controller. The fuzzy gain scheduler is used for stable and robust altitude, roll, pitch, and yaw control. The linguistic controller is used to compute the inputs to the fuzzy gain scheduler, i.e., desired values for roll, pitch, and yaw at given desired altitude and horizontal velocities. The flight controller is obtained and tested in simulation using a realistic nonlinear MIMO model of a real unmanned helicopter platform, the APID-MK

Place, publisher, year, edition, pages
Elsevier, 2004
Keywords
unmanned helicopter, Takagi-Sugeno fuzzy control, fuzzy gain scheduling, linguistic modelling and control
National Category
Computer Sciences
Identifiers
urn:nbn:se:liu:diva-23088 (URN)10.1016/j.fss.2003.07.002 (DOI)2480 (Local ID)2480 (Archive number)2480 (OAI)
Available from: 2009-10-07 Created: 2009-10-07 Last updated: 2018-01-13
Kadmiry, B. & Driankov, D. (2004). Takagi-Sugeno Fuzzy Gain Scheduling with Sampling-Time Uncertainties. In: IEEE International Conference on Fuzzy Systems Fuzz-IEEE 2004,2004 (pp. 239).
Open this publication in new window or tab >>Takagi-Sugeno Fuzzy Gain Scheduling with Sampling-Time Uncertainties
2004 (English)In: IEEE International Conference on Fuzzy Systems Fuzz-IEEE 2004,2004, 2004, p. 239-Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses the robust fuzzy control problem for discrete-time nonlinear systems in the presence of sampling time uncertainties. The case of the discrete T-S fuzzy system with sampling-time uncertainty is considered and a robust controller design method is proposed. The sufficient conditions and the design procedure are formulated in the form of linear matrix inequalities (LMI). The effectiveness of the proposed controller design methodology is demonstrated of a visual-servoing control problem

Keywords
Visual-serving, T-S fuzzy gain scheduled control, Linear Matrix Inequalities, sampling time uncertainty, Lyapunov robust stability, LQR guaranteed cost, multi-objective robustness
National Category
Computer Sciences
Identifiers
urn:nbn:se:liu:diva-23082 (URN)2474 (Local ID)2474 (Archive number)2474 (OAI)
Available from: 2009-10-07 Created: 2009-10-07 Last updated: 2018-01-13
Kadmiry, B., Bergsten, P. & Driankov, D. (2001). Autonomous Helicopter Control Using Fuzzy-Gain Scheduling. In: Proceedings of the IEEE International Conference on Robotic & Automation (ICRA): . Paper presented at 2001 IEEE International Conference on Robotics and Automation, 21-26 May 2001, Seoul, South Korea (pp. 2980-2985). IEEE, 3
Open this publication in new window or tab >>Autonomous Helicopter Control Using Fuzzy-Gain Scheduling
2001 (English)In: Proceedings of the IEEE International Conference on Robotic & Automation (ICRA), IEEE , 2001, Vol. 3, p. 2980-2985Conference paper, Published paper (Refereed)
Abstract [en]

The work reported in the paper is aimed at achieving aggressive manoeuvrability for an unmanned helicopter APID MK-III by Scandicraft AB in Sweden. The manoeuvrability problem is treated at the level of attitude (pitch, roll, yaw) and the aim is to achieve stabilization of the attitude angles within much larger ranges than currently available. We present a fuzzy gain scheduling control approach based on two different types of Iinearization of the original nonlinear APID MK-III model. The performance of the fuzzy gain scheduled controllers is evaluated in simulation and shows that they are effective means for achieving the desired robust manoeuvrability.

Place, publisher, year, edition, pages
IEEE, 2001
National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-60030 (URN)10.1109/ROBOT.2001.933074 (DOI)0-7803-6576-3 (ISBN)
Conference
2001 IEEE International Conference on Robotics and Automation, 21-26 May 2001, Seoul, South Korea
Available from: 2010-10-04 Created: 2010-10-04 Last updated: 2015-05-08
Kadmiry, B. & Driankov, D. (2001). Autonomous Helicopter Control using Linguistic and Model-Based Fuzzy Control. In: Proceedings of the IEEE International Symposium on Intelligent Control (CCA/ISIC): . Paper presented at 2001 IEEE International Symposium on Intelligent Control, 5-7 September 2001, Mexico City, Mexico (pp. 348-352). IEEE
Open this publication in new window or tab >>Autonomous Helicopter Control using Linguistic and Model-Based Fuzzy Control
2001 (English)In: Proceedings of the IEEE International Symposium on Intelligent Control (CCA/ISIC), IEEE , 2001, p. 348-352Conference paper, Published paper (Refereed)
Abstract [en]

The paper presents the design of a horizontal velocity controller for the unmanned helicopter APID MK-III developed by Scandicraft AB in Sweden. The controller is able of regulating high horizontal velocities via stabilization of the attitude angles within much larger ranges than currently available. We use a novel approach to the design consisting of two steps: 1) a Mamdani-type of a fuzzy rules are used to compute for each desired horizontal velocity the corresponding desired values for the attitude angles and the main rotor collective pitch; and 2) using a nonlinear model of the altitude and attitude dynamics, a Takagi-Sugeno controller is used to regulate the attitude angles so that the helicopter achieves its desired horizontal velocities at a desired altitude. According to our knowledge this is the first time when a combination of linguistic and model-based fuzzy control is used for the control of a complicated plant such as an autonomous helicopter. The performance of the combined linguistic/model-based controllers is evaluated in simulation and shows that the proposed design method achieves its intended purpose

Place, publisher, year, edition, pages
IEEE, 2001
Keywords
aircraft control, attitude control, fuzzy control, helicopters, nonlinear systems, velocity control
National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-60028 (URN)10.1109/ISIC.2001.971534 (DOI)0-7803-6722-7 (ISBN)
Conference
2001 IEEE International Symposium on Intelligent Control, 5-7 September 2001, Mexico City, Mexico
Available from: 2010-10-04 Created: 2010-10-04 Last updated: 2015-05-25
Palm, R. & Driankov, D. (2001). Design of a fuzzy gain scheduler using sliding mode control principles. Fuzzy sets and systems (Print), 121(1), 13-23
Open this publication in new window or tab >>Design of a fuzzy gain scheduler using sliding mode control principles
2001 (English)In: Fuzzy sets and systems (Print), ISSN 0165-0114, E-ISSN 1872-6801, Vol. 121, no 1, p. 13-23Article in journal (Refereed) Published
Abstract [en]

Fuzzy gain schedulers are designed on the basis of a conventional modeling of the nonlinear controlled system and the division of the state space into a finite number of fuzzy regions. Linearization of the nonlinear system at the center of each fuzzy region leads to the design of a set of linear control laws that locally stabilize the linearized system, and consequently the original nonlinear system at the corresponding operating point. Gain scheduling control of the original nonlinear system can be therefore realized along an a priori unknown, but slowly time varying desired trajectory. In this paper we analyze the stability and robustness of the gain-scheduled closed-loop system by adopting ideas from sliding mode control. It is shown that gain scheduling control of the original nonlinear system can be realized along an a priori unknown, but slowly time-varying desired trajectory. It is shown how the advantages of the sliding mode types of analysis of a fuzzy gain scheduler can also be used for its design. © 2001 Elsevier Science B.V.

Keywords
Design, Fuzzy control, Gain scheduling, Sliding mode control
National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-47329 (URN)10.1016/S0165-0114(99)00169-4 (DOI)
Available from: 2009-10-11 Created: 2009-10-11 Last updated: 2017-12-13
Kadmiry, B. & Driankov, D. (2001). Fuzzy Control of an Autonomous Helicopter. In: Proceedings of the 9th IEEE International Fuzzy Systems Association (IFSA) World Congress (pp. 2797-2802). IEEE Computer Society
Open this publication in new window or tab >>Fuzzy Control of an Autonomous Helicopter
2001 (English)In: Proceedings of the 9th IEEE International Fuzzy Systems Association (IFSA) World Congress, IEEE Computer Society , 2001, p. 2797-2802Conference paper, Published paper (Refereed)
Abstract [en]

This work presents a horizontal velocity controller for the unmanned helicopter APID MK-III developed by Scandicraft AB in Sweden. We use a novel approach to the design consisting of two steps: 1) Mamdani-type of fuzzy rules to compute each of the desired horizontal velocity corresponding to the desired values for the attitude angles and the main rotor collective pitch; and 2) a Takagi-Sugeno controller is used to regulate the attitude angles so that the helicopter achieves its desired horizontal velocities at a desired altitude. The performance of the combined linguistic/model-based controller is evaluated in simulation and shows that the proposed design method achieves its intended purpose

Place, publisher, year, edition, pages
IEEE Computer Society, 2001
National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-60029 (URN)10.1109/NAFIPS.2001.943669 (DOI)0-7803-7078-3 (ISBN)
Available from: 2010-10-04 Created: 2010-10-04 Last updated: 2011-03-03
Doherty, P., Driankov, D. & Hellendoorn, H. (1993). Fuzzy if-then-unless rules and their implementation. International Journal of Uncertainty Fuzziness and Knowledge-Based Systems, 1(2), 167-182
Open this publication in new window or tab >>Fuzzy if-then-unless rules and their implementation
1993 (English)In: International Journal of Uncertainty Fuzziness and Knowledge-Based Systems, ISSN 0218-4885, Vol. 1, no 2, p. 167-182Article in journal (Refereed) Published
Abstract [en]

We consider the possibility of generalizing the notion of a fuzzy If-Then rule to take into account its context dependent nature. We interpret fuzzy rules as modeling a forward directed causal relationship between the antecedent and the conclusion, which applies in most contexts, but on occasion breaks down in exceptional contexts. The default nature of the rule is modeled by augmenting the original If-Then rule with an exception part. We then consider the proper semantic correlate to such an addition and propose a ternary relation which satisfies a number of intuitive constraints described in terms of a number of inference rules. In the rest of the paper, we consider implementational issues arising from the unless extension and propose the use of reason maintenance systems, in particular TMS's, where a fuzzy If-Then-Unless rule is encoded into a dependency net. We verify that the net satisfies the constraints stated in the inference schemes and conclude with a discussion concerning the integration of qualitative IN-OUT labelings of the TMS with quantitative degree of membership labelings for the variables in question.

Place, publisher, year, edition, pages
World Scientific, 1993
Keywords
Fuzzy Logic; Reason Maintenance; Nonmonotonicity
National Category
Computer Sciences
Identifiers
urn:nbn:se:liu:diva-41613 (URN)10.1142/S0218488593000097 (DOI)58334 (Local ID)58334 (Archive number)58334 (OAI)
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2018-01-13
Doherty, P. & Driankov, D. (1993). Nonmonotonicity, fuzziness, and multi-values.. In: R. Lowen and M. Roubens (Ed.), Fuzzy Logic: State of the Art. Series D: System Theory, Knowledge Engineering and Problem Solving.: . Dordrecht ; Boston: Kluwer Academic Publishers
Open this publication in new window or tab >>Nonmonotonicity, fuzziness, and multi-values.
1993 (English)In: Fuzzy Logic: State of the Art. Series D: System Theory, Knowledge Engineering and Problem Solving. / [ed] R. Lowen and M. Roubens, Dordrecht ; Boston: Kluwer Academic Publishers , 1993Chapter in book (Other academic)
Abstract [en]

  

Place, publisher, year, edition, pages
Dordrecht ; Boston: Kluwer Academic Publishers, 1993
Series
Volume 12 ; 12
National Category
Computer Sciences
Identifiers
urn:nbn:se:liu:diva-41632 (URN)58498 (Local ID)0792323246 (ISBN)9780792323242 (ISBN)58498 (Archive number)58498 (OAI)
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2018-01-12
Driankov, D. & Doherty, P. (1992). A non-monotonic fuzzy logic. In: Lotfi A. Zadeh, Janusz Kacprzyk (Ed.), Fuzzy Logic for the Management of Uncertainty: (pp. 171-190). New York: John Wiley & Sons
Open this publication in new window or tab >>A non-monotonic fuzzy logic
1992 (English)In: Fuzzy Logic for the Management of Uncertainty / [ed] Lotfi A. Zadeh, Janusz Kacprzyk, New York: John Wiley & Sons , 1992, p. 171-190Chapter in book (Other academic)
Place, publisher, year, edition, pages
New York: John Wiley & Sons, 1992
Keywords
Artificial intelligence, Fuzzy systems, Fuzzy logic
National Category
Computer Sciences
Identifiers
urn:nbn:se:liu:diva-41633 (URN)58499 (Local ID)0-471-54799-9 (ISBN)58499 (Archive number)58499 (OAI)
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2018-01-12
Doherty, P., Driankov, D. & Hellendoorn, H. (1992). Fuzzy if-then-unless rules and their implementation.. In: International Conference on Information Processing and Management of Uncertainty in Knowledge-Based Systems, IPMU92,1992. Springer
Open this publication in new window or tab >>Fuzzy if-then-unless rules and their implementation.
1992 (English)In: International Conference on Information Processing and Management of Uncertainty in Knowledge-Based Systems, IPMU92,1992, Springer , 1992Conference paper, Published paper (Refereed)
Place, publisher, year, edition, pages
Springer, 1992
National Category
Computer Sciences
Identifiers
urn:nbn:se:liu:diva-41428 (URN)56373 (Local ID)56373 (Archive number)56373 (OAI)
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2018-01-13
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