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Author:
Kadmiry, Bourhane (Linköping University, The Institute of Technology) (Linköping University, Department of Computer and Information Science, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group )
Driankov, Dimiter (Linköping University, The Institute of Technology) (Linköping University, Department of Computer and Information Science, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group )
Title:
A Fuzzy Flight Controller Combining Linguistic and Model-based Fuzzy Control
Department:
Linköping University, Department of Computer and Information Science, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group
Linköping University, The Institute of Technology
Publication type:
Article in journal (Refereed)
Language:
English
Publisher: Elsevier
Status:
Published
In:
Fuzzy sets and systems (Print)(ISSN 0165-0114)
Volume:
146
Issue:
3
Pages:
313-347
Year of publ.:
2004
URI:
urn:nbn:se:liu:diva-23088
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-23088
Local ID:
2480
Subject category:
Computer Science
SVEP category:
Computer science
Keywords(en) :
unmanned helicopter, Takagi-Sugeno fuzzy control, fuzzy gain scheduling, linguistic modelling and control
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

Available from:
2009-10-07
Created:
2009-10-07
Last updated:
2011-03-14
Statistics:
21 hits