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Fuzzy Control of an Autonomous Helicopter
Linköpings universitet, Institutionen för datavetenskap, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group. Linköpings universitet, Tekniska högskolan.
Linköpings universitet, Institutionen för datavetenskap, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group. Linköpings universitet, Tekniska högskolan.
2001 (engelsk)Inngår i: Proceedings of the 9th IEEE International Fuzzy Systems Association (IFSA) World Congress, IEEE Computer Society , 2001, s. 2797-2802Konferansepaper, Publicerat paper (Fagfellevurdert)
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

sted, utgiver, år, opplag, sider
IEEE Computer Society , 2001. s. 2797-2802
HSV kategori
Identifikatorer
URN: urn:nbn:se:liu:diva-60029DOI: 10.1109/NAFIPS.2001.943669ISBN: 0-7803-7078-3 (tryckt)OAI: oai:DiVA.org:liu-60029DiVA, id: diva2:354727
Tilgjengelig fra: 2010-10-04 Laget: 2010-10-04 Sist oppdatert: 2011-03-03

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