Small UAV controlled by an online adaptive fuzzy control system Online publication date: Tue, 10-Aug-2010
by Tongyue Gao, Jinjun Rao, Zhenbang Gong, Jun Luo, Wei Ding, Xinwen Gao
International Journal of Modelling, Identification and Control (IJMIC), Vol. 10, No. 3/4, 2010
Abstract: Since small unmanned helicopter flight attitude control process has strong time-varying characteristics and random disturbances, the conventional control methods with unchanged parameters are often unworkable. An online adaptive fuzzy control system (AFCS) is designed in this paper, in a way that a process model of the plant or its approximation in the form of a Jacobian matrix is not required. An online AFCS implements a simultaneous online tuning of fuzzy rules and the output scale factors of the system. A two-cascade controller is designed with an inner (attitude controller) and outer controller (navigation controller) of the small unmanned helicopter. At last, an attitude controller based on an online AFCS is implemented. The flight experiments show that the proposed fuzzy logic controller provides quick response, small overshoot, high accuracy, robustness and adaptive ability. It satisfies the needs of autonomous flight.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Modelling, Identification and Control (IJMIC):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com
Our Blog 
Follow us on Twitter 
Visit us on Facebook