Autonomous helicopter control using fuzzy gain scheduling

Author

Kadmiry, B. ; Bergsten, P. ; Driankov, D.

Author_Institution

Dept. of Comput. Sci., Linkoping Univ., Sweden

Volume

3

fYear

2001

fDate

2001

Firstpage

2980

Abstract

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.

Keywords

aircraft control; attitude control; fuzzy control; helicopters; linearisation techniques; remotely operated vehicles; APID MK-III; Scandicraft AB; aggressive manoeuvrability; attitude angles; autonomous helicopter control; fuzzy gain scheduling; robust manoeuvrability; stabilization; unmanned helicopter; Attitude control; Ear; Fuzzy control; Helicopters; Intelligent sensors; Mathematical model; Processor scheduling; Robust control; Robust stability; Unmanned aerial vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.933074

Filename

933074