| 1. |
- Bergsten, Pontus, 1971-, et al.
(författare)
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Fuzzy Observers
- 2001
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Ingår i: The 10th IEEE International Conference on Fuzzy Systems (Volym:3). - New York, USA : IEEE conference proceedings. - 078037293X ; , s. 700-703
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Konferensbidrag (refereegranskat)abstract
- We consider the analysis and design of three different types of nonlinear observers for dynamic Takagi-Sugeno fuzzy systems. Our approach is based on extending existing nonlinear observer schemes, namely Thau-Luenberger and sliding mode observers, to the case of interpolated multiple local affine linear models. Then linear matrix inequality based techniques are used for observer analysis and design.
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| 2. |
- Bergsten, Pontus, 1971-, et al.
(författare)
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Observers for Takagi-Sugeno fuzzy systems
- 2002
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Ingår i: IEEE transactions on systems, man and cybernetics. Part B. Cybernetics. - : IEEE Journals & Magazines. - 1083-4419 .- 1941-0492. ; 32:1, s. 114-121
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Tidskriftsartikel (refereegranskat)abstract
- We focus on the analysis and design of two different sliding mode observers for dynamic Takagi-Sugeno (TS) fuzzy systems. A nonlinear system of this class is composed of multiple affine local linear models that are smoothly interpolated by weighting functions resulting from a fuzzy partitioning of the state space of a given nonlinear system subject to observation. The Takagi-Sugeno fuzzy system is then an accurate approximation of the original nonlinear system. Our approach to the analysis and design of observers for Takagi-Sugeno fuzzy systems is based on extending sliding mode observer schemes to the case of interpolated multiple local affine linear models. Thus, our main contribution is nonlinear observer analysis and design methods that can effectively deal with model/plant mismatches. Furthermore, we consider the difficult case when the weighting functions in the Takagi-Sugeno fuzzy system depend on the estimated state
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| 3. |
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Fuzzy Logic Techniques for Autonomous Vehicle Navigation
- 2001
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Samlingsverk (redaktörskap) (refereegranskat)abstract
- The goal of autonomous mobile robotics is to build and control physical systems which can move purposefully and without human intervention in real-world environments which have not been specifically engineered for the robot. The development of techniques for autonomous mobile robot operation constitutes one of the major trends in the current research and practice in modern robotics. This volume presents a variety of fuzzy logic techniques which address the challenges posed by autonomous robot navigation. The focus is on four major problems: how to design robust behavior-producing control modules; how to use data from sensors for the purpose of environment modeling; and how to integrate high-level reasoning and low-level behavior execution. In this volume state-of-the-art fuzzy logic solutions are presented and their pros and cons are discussed in detail based on extensive experimentation on real mobile robots.
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| 4. |
- Grantner, Janos L., et al.
(författare)
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Applications of the Fuzzy State Fuzzy Output Finite State Machine to the Problem of Recovery from Violation of Ontological Assumptions
- 2000
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Ingår i: International Journal of Smart Engineering System Design. - : Taylor & Francis Group. - 1025-5818. ; 2:3, s. 177-199
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Tidskriftsartikel (refereegranskat)abstract
- A programmable logic controller (PC) carries out a control algorithm under violations of theontological assumptions (VOA) when the plant does not meet one or more unstated but essential assumptions used in the design of the control algorithm. This paper presents a recovery technique based on the theory of Fuzzy State Fuzzy Output Finite State Machines (FSFO-FSM). The appeal of this approach is that the only known recovery results today are for fuzzy controllers. A common drawback of most linguistic models is that they are essentially static and thus not suitable to model the sequential behavior of a PC program. A FSFO-FSM can act as a sequentialmachine during the normal course of control, yet it possesses all the required linguistic properties during a VOA. This approach can enhance substantially the safety and operational range of existing PC and embedded control applications. This paper describes the control problem, presents results based on simulations, and show architectural constraints when applying this principle to real-world application.
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| 5. |
- Kadmiry, Bourhane, 1966-, et al.
(författare)
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A Fuzzy Flight Controller Combining Linguistic and Model-based Fuzzy Control
- 2004
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Ingår i: Fuzzy sets and systems (Print). - : Elsevier. - 0165-0114 .- 1872-6801. ; 146:3, s. 313-347
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Tidskriftsartikel (refereegranskat)abstract
- 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
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| 6. |
- Kadmiry, Bourhane, et al.
(författare)
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A fuzzy gain-scheduler for the attitude control of an unmanned helicopter
- 2004
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Ingår i: IEEE transactions on fuzzy systems. - : IEEE Computer Society. - 1063-6706 .- 1941-0034. ; 12:4, s. 502-515
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Tidskriftsartikel (refereegranskat)abstract
- In this paper, we address the design of an attitude controller that achieves stable, and robust aggressive maneuverability for an unmanned helicopter. The controller proposed is in the form of a fuzzy gain-scheduler, and is used for stable and robust altitude, roll, pitch, and yaw control. The controller is obtained from a realistic nonlinear multiple-input-multiple-output model of a real unmanned helicopter platform, the APID-MK3. The results of this work are illustrated by extensive simulation, showing that the objective of aggressive, and robust maneuverability has been achieved.
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| 7. |
- Kadmiry, Bourhane, et al.
(författare)
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Autonomous Helicopter Control Using Fuzzy-Gain Scheduling
- 2001
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Ingår i: Proceedings of the IEEE International Conference on Robotic & Automation (ICRA). - : IEEE conference proceedings. - 0780365763 ; , s. 2980-2985
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Konferensbidrag (refereegranskat)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.
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| 8. |
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| 9. |
- Kadmiry, Bourhane, 1966-, et al.
(författare)
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Autonomous Helicopter Control using Linguistic and Model-Based Fuzzy Control
- 2001
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Ingår i: Proceedings of the IEEE International Symposium on Intelligent Control (CCA/ISIC). - : IEEE. - 0780367227 ; , s. 348-352
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Konferensbidrag (refereegranskat)abstract
- The paper presents the design of a horizontal velocity controller for the unmanned helicopter APID MK-III developed by Scandicraft AB in Sweden. The controller is able of regulating high horizontal velocities via stabilization of the attitude angles within much larger ranges than currently available. We use a novel approach to the design consisting of two steps: 1) a Mamdani-type of a fuzzy rules are used to compute for each desired horizontal velocity the corresponding desired values for the attitude angles and the main rotor collective pitch; and 2) using a nonlinear model of the altitude and attitude dynamics, a Takagi-Sugeno controller is used to regulate the attitude angles so that the helicopter achieves its desired horizontal velocities at a desired altitude. According to our knowledge this is the first time when a combination of linguistic and model-based fuzzy control is used for the control of a complicated plant such as an autonomous helicopter. The performance of the combined linguistic/model-based controllers is evaluated in simulation and shows that the proposed design method achieves its intended purpose
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| 10. |
- Kadmiry, Bourhane, 1966-, et al.
(författare)
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Fuzzy control of an autonomous helicopter
- 2001
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Ingår i: Joint 9th IFSA World Congress and 20th NAFIPS International Conference. - New York, USA : IEEE conference proceedings. - 0780370783 ; , s. 2797-2802
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Konferensbidrag (refereegranskat)abstract
- This work presents a horizontal velocity controller for the unmanned helicopter APID MK-III developed by Scandicraft AB in Sweden. We use a novel approach to the design consisting of two steps: 1) Mamdani-type of fuzzy rules to compute each of the desired horizontal velocity corresponding to the desired values for the attitude angles and the main rotor collective pitch; and 2) a Takagi-Sugeno 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/model-based controller is evaluated in simulation and shows that the proposed design method achieves its intended purpose
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