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A fuzzy gain-schedu...
A fuzzy gain-scheduler for the attitude control of an unmanned helicopter
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- Kadmiry, Bourhane (author)
- Linköpings universitet,Tekniska högskolan,AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group
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- Driankov, Dimiter, 1952- (author)
- Örebro universitet,Institutionen för naturvetenskap och teknik,AASS,Örebro University, IEEE, Örebro SE-70182, Sweden
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(creator_code:org_t)
- IEEE Computer Society, 2004
- 2004
- English.
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In: IEEE transactions on fuzzy systems. - : IEEE Computer Society. - 1063-6706 .- 1941-0034. ; 12:4, s. 502-515
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Abstract
Subject headings
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- 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.
Subject headings
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
Keyword
- Fuzzy gain scheduling
- output-feedback fuzzy control
- Takagi–Sugeno fuzzy control
- unmanned helicopter
- Reglerteknik
- Automatic Control
- TECHNOLOGY
Publication and Content Type
- ref (subject category)
- art (subject category)
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