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Autonomous Helicopter Control using Linguistic and Model-Based Fuzzy Control
Linköpings universitet, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group.
Linköpings universitet, Tekniska högskolan.ORCID-id: 0000-0002-9477-4044
2001 (Engelska)Ingår i: Proceedings of the IEEE International Symposium on Intelligent Control (CCA/ISIC), 2001, s. 348-352Konferensbidrag, Publicerat paper (Refereegranskat)
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

Ort, förlag, år, upplaga, sidor
2001. s. 348-352
Nyckelord [en]
aircraft control, attitude control, fuzzy control, helicopters, nonlinear systems, velocity control
Nationell ämneskategori
Teknik och teknologier
Identifikatorer
URN: urn:nbn:se:oru:diva-42488DOI: 10.1109/ISIC.2001.971534ISBN: 0-7803-6722-7 (tryckt)OAI: oai:DiVA.org:oru-42488DiVA, id: diva2:786684
Tillgänglig från: 2010-10-04 Skapad: 2015-02-06 Senast uppdaterad: 2017-10-18Bibliografiskt granskad

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