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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, D. (Örebro University, IEEE, Örebro SE-70182, Sweden)
Title:
A fuzzy gain-scheduler for the attitude control of an unmanned helicopter
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: IEEE Computer Society
Status:
Published
In:
IEEE transactions on fuzzy systems(ISSN 1063-6706)(EISSN 1941-0034)
Volume:
12
Issue:
4
Pages:
502-515
Year of publ.:
2004
URI:
urn:nbn:se:liu:diva-45682
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-45682
Subject category:
Engineering and Technology
SVEP category:
TECHNOLOGY
Keywords(en) :
unmanned helicopter, Takagi-Sugeno fuzzy control, fuzzy gain scheduling, output-feedback fuzzy control
Abstract(en) :

In this paper, we address the design of an attitude controller that achieves stable, and robust aggressive maneuverability for an unmanned helicopter. The controller proposed is in the form of a fuzzy gain-scheduler, and is used for stable and robust altitude, roll, pitch, and yaw control. The controller is obtained from a realistic nonlinear multiple-input-multiple-output model of a real unmanned helicopter platform, the APID-MK3. The results of this work are illustrated by extensive simulation, showing that the objective of aggressive, and robust maneuverability has been achieved. © 2004 IEEE.

Available from:
2009-10-11
Created:
2009-10-11
Last updated:
2011-03-14
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