Combining fuzzy, PID and regulation control for an autonomous mini-helicopter

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dc.citation.journalTitleINFORMATION SCIENCESeng
dc.contributor.authorSanchez, Edgar N.
dc.contributor.authorBecerra, Hector M.
dc.contributor.authorVelez, Carlos M.
dc.contributor.departmentUniversidad EAFIT. Escuela de Cienciasspa
dc.contributor.researchgroupModelado Matemáticospa
dc.date.accessioned2021-04-12T14:07:10Z
dc.date.available2021-04-12T14:07:10Z
dc.date.issued2007-05-15
dc.description.abstractThis paper reports on the synthesis of different flight controllers for an X-Cell mini-helicopter. They are developed on the basis of the most realistic mathematical model currently available. Two hybrid intelligent control systems, combining computational intelligence methodologies with other control techniques, are investigated. For both systems, Mamdani-type fuzzy controllers determine the set points for altitude/attitude control. These fuzzy controllers are designed using a simple rule base. The first scheme consists of conventional SISO PID controllers for z-position and roll, pitch and yaw angles. In the second scheme, two of the previous PID controllers are used for roll and pitch, and a linear regulator is added to control altitude and yaw angle. These control schemes mimic the action of an expert pilot. The designed controllers are tested via simulations. It is shown that the designed controllers exhibit good performance for hover flight and control positioning at slow speed. © 2006 Elsevier Inc. All rights reserved.eng
dc.identifierhttps://eafit.fundanetsuite.com/Publicaciones/ProdCientif/PublicacionFrw.aspx?id=1469
dc.identifier.doi10.1016/j.ins.2006.10.001
dc.identifier.issn0200255
dc.identifier.otherWOS;000245795500002
dc.identifier.otherSCOPUS;2-s2.0-33847644187
dc.identifier.urihttp://hdl.handle.net/10784/27757
dc.language.isoengeng
dc.publisherELSEVIER SCIENCE INC
dc.relation.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-33847644187&doi=10.1016%2fj.ins.2006.10.001&partnerID=40&md5=50403c37d38d9e0d50d203834815eee3
dc.rightshttps://v2.sherpa.ac.uk/id/publication/issn/0020-0255
dc.sourceINFORMATION SCIENCES
dc.subject.keywordAutonomous agentseng
dc.subject.keywordFlight control systemseng
dc.subject.keywordHelicopterseng
dc.subject.keywordIntelligent controleng
dc.subject.keywordMathematical modelseng
dc.subject.keywordAutonomous helicopterseng
dc.subject.keywordControl altitudeseng
dc.subject.keywordControl schemeseng
dc.subject.keywordHybrid intelligent controleng
dc.subject.keywordLinear regulationseng
dc.subject.keywordFuzzy controleng
dc.titleCombining fuzzy, PID and regulation control for an autonomous mini-helicoptereng
dc.typearticleeng
dc.typeinfo:eu-repo/semantics/articleeng
dc.typeinfo:eu-repo/semantics/publishedVersioneng
dc.typepublishedVersioneng
dc.type.localArtículospa

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