Fuzzy Control of an Autonomous Helicopter
نویسنده
چکیده
This work presents a horizontal velocity controller for the unmanned helicopter APID MKI11 by Scandicraft AB in Sweden. We use a novel approach to the design consisting of two steps: first, a Mamdani-type of fuzzy rules compute for each desired horizontal velocity the corresponding desired values for the attitude angles and the main rotor collective pitch; second, a TakagiSugeno 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/modelbased controller is evaluated in simulation and shows that the proposed design method achieves its intended pwpose.
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