Design and implementation of a hybrid fuzzy logic controller for a quadrotor VTOL vehicle

Bora Erginer1, Erdinç Altuğ2
1Ford Otosan, Istanbul, Turkey
2Department of Mechanical Engineering, Istanbul Technical University, Gümüşsuyu, Istanbul, Turkey

Tóm tắt

Từ khóa


Tài liệu tham khảo

A. Gessow and G. Myers, Aerodynamics of the helicopter, Frederick Ungar Publishing Co, New York, 1967.

J. G. Leishman, Principles of Helicopter Aerodynamics, Cambridge University Press, 2000.

M. J. Hirschberg, The American Helicopter: An Overview of Helicopter Developments in America 1908–1999, 2000.

P. Castillo, R. Lozano, and A. E. Dzul, Modelling and Control of Mini-flying Machines, Advances in Industrial Control series, ISSN 1430-9491, Springer, 2005.

H. Y. Chao, Y. C. Cao, and Y. Q. Chen, “Autopilots for small unmanned aerial vehicles: a survey,” International Journal of Control, Automation, and Systems, vol. 8,no. 1, pp. 36–44, 2010.

D. Lee, I. Kaminer, V. Dobrokhodov, and K. Jones, “Autonomous feature following for visual surveillance using a small unmanned aerial vehicle with gimbaled camera system,” International Journal of Control, Automation, and Systems, vol. 8, no. 5, pp. 957–966, 2010.

D. Han, J. Kim, C. Min, S. Jo, J. Kim, and D. Lee, “Development of unmanned aerial vehicle (UAV) system with waypoint tracking and vision-based reconnaissance,” International Journal of Control, Automation, and Systems, vol. 8, no. 5, pp. 1091–1099, 2010.

T. Hamel, R. Mahony, R. Lozano, and J. Ostrowski, “Dynamic modeling and configuration stabilization for an X4-flyer,” Proc. of IFAC 15th Triennial World Congress, Barcelona, Spain, 2002.

E. Altuğ, J. P. Ostrowski, and C. J. Taylor, “Control of a quadrotor helicopter using dual camera visual feedback,” The International Journal of Robotics Research, vol. 24, no. 5, pp. 329–341, 2005.

D. Suter, T. Hamel, and R. Mahony, “Visual servo control using homography estimation for the stabilization of an X4-flyer,” Proc. of the 41st IEEE Conf. on Decision and Control, pp. 2872–2877, 2002.

A. Moktari and A. Benallegue, “Dynamic feedback controller of Euler angles and wind parameters estimation for a quadrotor unmanned aerial vehicle,” Proc. of the IEEE Conf. on Rob. and Auto., pp. 2359–2366, 2004.

J. Dunfied, M. Tarbouchi, and G. Labonte, “Neural network based control of a four rotor helicopter,” Proc. of IEEE Int. Conf. on Industrial Technology, pp. 1543–1548, 2004.

M. G. Earl and R. D’Andrea, “Real-time attitude estimation techniques applied to a four rotor helicopter,” Proc. of IEEE Conf. on Decision and Control, pp. 3956–3961, 2004.

S. Slazar-Cruz, A. Palomino, and R. Lozano, “Trajectory tracking for a four rotor mini-aircraft,” Proc. of the 44th IEEE Conf. on Decision and Control and the European Control Conference, pp. 2505–2510, 2005.

J. Escareno, S. Salazar-Cruz, and R. Lozano, “Embedded control of a four-rotor UAV,” Proc. of the American Control Conference, pp. 189–204, 2006.

S. Bouabdallah and R. Siegwart, “Backstepping and sliding-mode techniques applied to an indoor micro quadrotor,” Proc. of the IEEE Conf. on Robotics and Automation, pp. 2247–2252, 2005.

L. Beji, A. Abichou, and K. M. Zemalache, “Smooth control of an X4 bidirectional rotors flying robot,” 5th Int. Workshop on Robot Motion and Control, pp. 181–186, 2005.

P. Castillo, A. E. Dzul, and R. Lozano, “Real-time stabilization and tracking of a four-rotor mini rotorcraft,” IEEE Trans. on control systems technology, vol. 12, no. 4, pp. 510–516, 2004.

A. Tayebi and S. McGilvray, “Attitude stabilization of a VTOL quadrotor aircraft,” IEEE Trans. on Control Systems Technology, vol. 14, no. 3, pp. 562–571, 2006.

D. Lee, H. J. Kim, and S. Sastry, “Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter,” International Journal of Control, Automation, and Systems, vol. 7, no. 3, pp. 419–428, 2009.

L.-X. Wang, A Course in Fuzzy System and Control, Prentice Hall, 1997.

C.-C. Lee, “Fuzzy logic in control systems: fuzzy logic controller-part I,” IEEE Trans. on System, Man, and Cybernetics, vol. 20, no. 2, pp. 404–418, 1990.

L. Reznik, Fuzzy Controllers Handbook, 1997.

E. H. Fung, Y. Wong, Y. Ma, C. M. Yuen, and W. Wong, “Smart hanger dynamic modeling and fuzzy controller design,” International Journal of Control, Automation, and Systems, vol. 9, no. 4, pp. 691–700, 2011.

A. Hafaifa, F. Laaouad, and K. Laroussi, “A numerical structural approach to surge detection and isolation in compression systems using fuzzy logic controller,” International Journal of Control, Automation, and Systems, vol. 9, no. 1, pp. 69–79, 2011.

M. Sugeno, Development of an Intelligent Unmanned Helicopter, at the Fuzzy Modeling and Control, CRC Press, Boca Raton, 1999.

B. Kadmiry and D. Driankov, “Fuzzy control of an autonomous helicopter,” IFSA World Congress, vol. 5, Canada, pp. 2797–2802, 2001.

C. Cavalcante, J. Cardoso, J. G. Ramos, and O. R. Nerves, “Design and tuning of a helicopter fuzzy controller,” Proc. of IEEE Int. Conference on Fuzzy Systems, vol. 3, pp. 1549–1554, 1995.

N. I. Vitzilaios and N. C. Tsourveloudis, “An experimental test bed for small unmanned helicopters,” Journal of Intelligent and Robotic Systems, vol. 54, pp. 769–794, May 2009.

R. D. Garcia and K. P. Valavanis, “The implementation of an autonomous helicopter testbed,” Journal of Intelligent and Robotic Systems, vol. 54,Issue 1–3, pp. 423–454, March 2009.