LiU Electronic Press
Full-text not available in DiVA
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 (Linköping University, Department of Computer and Information Science, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group ) (Linköping University, The Institute of Technology)
Title:
Fuzzy Control of an Autonomous 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:
Conference paper (Refereed)
Language:
English
In:
Proceedings of the 9th IEEE International Fuzzy Systems Association (IFSA) World Congress
Publisher: IEEE Computer Society
Pages:
2797-2802
Year of publ.:
2001
URI:
urn:nbn:se:liu:diva-60029
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-60029
ISBN:
0-7803-7078-3
Subject category:
Engineering and Technology
SVEP category:
TECHNOLOGY
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

Available from:
2010-10-04
Created:
2010-10-04
Last updated:
2011-03-03
Statistics:
37 hits