NDLI: Trajectory tracking control of a small unmanned helicopter based on fuzzy CMAC-PID

Content Provider	IEEE Xplore Digital Library
Author	Zheng, Z. Li, R. Wang, G.
Copyright Year	2015
Description	Author affiliation: Sch. of Autom. Eng., Univ. of Electron. Sci. & Technol. of China, Chengdu, China (Zheng, Z.; Li, R.; Wang, G.)
Abstract	The unmanned helicopter is a typical nonlinear and strongly coupled system, which is difficult to be modeled and controlled. The research of the trajectory tracking control of an small unmanned helicopter is of great theoretical significance and practical utility. In the paper, we present a control method combining inner-loop and outer-loop controllers. The inner-loop controller adopts the attitude control of CMAC-PID. CMAC is regarded as a feed-forward compensation controller, which can train the control parameters of PID assuring the control precision of attitude controller. The outer-loop controller adopts fuzzy control, with the fuzzy variables being the position error and velocity error of unmanned helicopter. The integrated control system is to achieve the trajectory tracking. Finally, the simulation results on the airplane Align-700 model demonstrate the performance of the method which has been put forward in the paper.
Starting Page	5713
Ending Page	5717
File Size	373479
Page Count	5
File Format	PDF
ISBN	9789881563897
ISSN	19341768
DOI	10.1109/ChiCC.2015.7260531
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Technical Committee on Control Theory, Chinese Association of Automation
Subject Keyword	Fuzzy control Helicopter Attitude control Helicopters CMAC-PID Rotors Inner-outer loop Fuzzy Control Trajectory Tunneling magnetoresistance
Content Type	Text
Resource Type	Article

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