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A fuzzy gain-scheduler for the attitude control of an unmanned helicopter
Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group .
Örebro University, IEEE, Örebro SE-70182, Sweden.
2004 (English)In: IEEE transactions on fuzzy systems, ISSN 1063-6706, E-ISSN 1941-0034, Vol. 12, no 4, 502-515 p.Article in journal (Refereed) Published
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.

Place, publisher, year, edition, pages
IEEE Computer Society , 2004. Vol. 12, no 4, 502-515 p.
Keyword [en]
unmanned helicopter, Takagi-Sugeno fuzzy control, fuzzy gain scheduling, output-feedback fuzzy control
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-45682DOI: 10.1109/TFUZZ.2004.832539OAI: oai:DiVA.org:liu-45682DiVA: diva2:266578
Available from: 2009-10-11 Created: 2009-10-11 Last updated: 2011-03-14

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Kadmiry, Bourhane
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ReferencesLink to record
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