自主直升机的模糊控制

Proceedings Joint 9th IFSA World Congress and 20th NAFIPS International Conference (Cat. No. 01TH8569) Pub Date : 2001-07-25 DOI:10.1109/NAFIPS.2001.943669

B. Kadmiry, D. Driankov

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引用次数: 18

摘要

本文介绍了瑞典scanicraft AB公司开发的无人直升机APID MK-III的水平速度控制器。我们采用了一种新的设计方法，包括两个步骤:1)利用mamdani型模糊规则计算每个期望的水平速度，对应于姿态角和主转子集体螺距的期望值;2)使用Takagi-Sugeno控制器调节姿态角，使直升机在期望高度达到期望的水平速度。仿真结果表明，所提出的设计方法达到了预期目的。

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Fuzzy control of an autonomous helicopter

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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Proceedings Joint 9th IFSA World Congress and 20th NAFIPS International Conference (Cat. No. 01TH8569)

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