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Author:
Kadmiry, Bourhane (Linköping University, Department of Computer and Information Science, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group ) (Linköping University, The Institute of Technology)
Driankov, Dimiter (Örebro University)
Title:
Autonomous Helicopter Control using 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:
Conference paper (Refereed)
Language:
English
In:
Proceedings of the IEEE International Symposium on Intelligent Control (CCA/ISIC)
Pages:
348-352
Year of publ.:
2001
URI:
urn:nbn:se:liu:diva-60028
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-60028
ISBN:
0-7803-6722-7
Subject category:
Engineering and Technology
SVEP category:
TECHNOLOGY
Keywords(en) :
aircraft control, attitude control, fuzzy control, helicopters, nonlinear systems, velocity control
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

Available from:
2010-10-04
Created:
2010-10-04
Last updated:
2010-10-19
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