Embedded Helicopter Heading Control using an Adaptive Network-Based Fuzzy Inference System
نویسندگان
چکیده
This work introduces an embedded small indoor helicopter heading controller based on fuzzy logic. The work addresses the problem of system identification when implementing a Takagi-Sugeno-Kang type fuzzy logic controller. Instead of identifying the system formally beforehand, the fuzzy controllers consequent parameters are learned using a Neuro-Fuzzy Inference System with data collected from an existing, previously implemented proportional controller. The controllers are implemented on an embedded microcontroller driven system attached to the helicopter, also presented in this paper. Finally, the fuzzy logic based controller is tested and compared to the proportional controllers performance.
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