LiU Electronic Press
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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)
Bergsten, Pontus (Örebro University )
Driankov, Dimiter (Linköping University, Department of Computer and Information Science, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group ) (Linköping University, The Institute of Technology)
Title:
Autonomous Helicopter Control Using Fuzzy-Gain Scheduling
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 Conference on Robotic & Automation (ICRA)
Publisher: IEEE conference proceedings
Pages:
2980-2985
Year of publ.:
2001
URI:
urn:nbn:se:liu:diva-60030
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-60030
ISBN:
0-7803-6576-3
Subject category:
Engineering and Technology
SVEP category:
TECHNOLOGY
Abstract(en) :

The work reported in the paper is aimed at achieving aggressive manoeuvrability for an unmanned helicopter APID MK-III by Scandicraft AB in Sweden. The manoeuvrability problem is treated at the level of attitude (pitch, roll, yaw) and the aim is to achieve stabilization of the attitude angles within much larger ranges than currently available. We present a fuzzy gain scheduling control approach based on two different types of Iinearization of the original nonlinear APID MK-III model. The performance of the fuzzy gain scheduled controllers is evaluated in simulation and shows that they are effective means for achieving the desired robust manoeuvrability.

Available from:
2010-10-04
Created:
2010-10-04
Last updated:
2011-02-23
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