Fuzzy Control of an Autonomous Helicopter
2001 (English)In: Proceedings of the 9th IEEE International Fuzzy Systems Association (IFSA) World Congress, IEEE Computer Society , 2001, 2797-2802 p.Conference paper (Refereed)
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
Place, publisher, year, edition, pages
IEEE Computer Society , 2001. 2797-2802 p.
Engineering and Technology
IdentifiersURN: urn:nbn:se:liu:diva-60029DOI: 10.1109/NAFIPS.2001.943669ISBN: 0-7803-7078-3OAI: oai:DiVA.org:liu-60029DiVA: diva2:354727