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A Fuzzy Flight Controller Combining Linguistic and Model-based Fuzzy Control
Linköpings universitet, Tekniska högskolan.
Linköpings universitet, Tekniska högskolan.ORCID iD: 0000-0002-9477-4044
2004 (English)In: Fuzzy sets and systems (Print), ISSN 0165-0114, E-ISSN 1872-6801, Vol. 146, no 3, 313-347 p.Article in journal (Refereed) Published
Abstract [en]

In this paper we address the design of a fuzzy flight controller that achieves stable and robust -aggressive- manoeuvrability for an unmanned helicopter. The fuzzy flight controller proposed consists of a combination of a fuzzy gain scheduler and linguistic (Mamdani-type) controller. The fuzzy gain scheduler is used for stable and robust altitude, roll, pitch, and yaw control. The linguistic controller is used to compute the inputs to the fuzzy gain scheduler, i.e., desired values for roll, pitch, and yaw at given desired altitude and horizontal velocities. The flight controller is obtained and tested in simulation using a realistic nonlinear MIMO model of a real unmanned helicopter platform, the APID-MK

Place, publisher, year, edition, pages
Elsevier , 2004. Vol. 146, no 3, 313-347 p.
Keyword [en]
unmanned helicopter, Takagi-Sugeno fuzzy control, fuzzy gain scheduling, linguistic modelling and control
National Category
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-42489DOI: 10.1016/j.fss.2003.07.002Local ID: 2480OAI: oai:DiVA.org:oru-42489DiVA: diva2:786681
Available from: 2009-10-07 Created: 2015-02-06 Last updated: 2017-05-09Bibliographically approved

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Kadmiry, BourhaneDriankov, Dimiter
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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
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  • text
  • asciidoc
  • rtf