An On-line Adaptive Fuzzy Control System (AFCS) For The Attitude Control Of A Small Unmanned Helicopter

摘要：

An on-line adaptive fuzzy control system (AFCS) is designed in this paper, in a way that does not depend on a process model of the plant or its approximation in the form of a Jacobian matrix. Neither is it necessary to know the desired response at each instant of time. AFCS implement a simultaneous on-line tuning of fuzzy rules and output scale of fuzzy control system. This paper designs the two cascade controller design with an inner (attitude controller) and outer controller (navigation controller) of the small unmanned helicopter. At last, an attitude controller based on AFCS is implemented ant it is testified by the flight experiment.

关键词： UAV on-line adaptive fuzzy control system

作者: Tongyue Gao Jinjun Rao Zhenbang Gong

作者单位: Department of Precision Mechanical Engineering Shanghai University P.O.Box 108, Yanchang Rd.149, Shanghai 200072, P.R.China

会议类型: 国际会议

会议名称: 2008 Sino-European Workshop on Intelligent Robots and Systems(SEIROS08)(第一届中欧智能系统及机器人国际学术研讨会)

会议地点: 重庆

会议语种:英文

页码: 1-5

在线出版日期: 2008-12-11（万方平台首次上网日期，不代表论文的发表时间）