Abstract
The invited lecture in 2012 IEEE World Congress on Computational Intelligence (WCCI 2012) presents an overview of a unified fuzzy model-based framework for modeling and control of complex systems. A number of practical applications, ranging from flying vehicles control (including micro helicopter control) to brain-machine cooperative control, are provided in the lecture. The theory and applications have been developed in our laboratory [1] at the University of Electro-Communications (UEC), Tokyo, Japan, in collaboration with Prof. Hua O. Wang and his laboratory [2] at Boston University, Boston, USA. Due to lack of space, this chapter focuses on a unified fuzzy model-based framework for modeling and control of a micro helicopter that is a key application in our research.
This work has been done in our laboratory [1] at the University of Electro-Communications (UEC), Tokyo, Japan, in collaboration with Prof. Hua O. Wang and his laboratory [2] at Boston University, Boston, USA.
Access provided by Autonomous University of Puebla. Download to read the full chapter text
Chapter PDF
Similar content being viewed by others
Keywords
- Linear Matrix Inequality
- Fuzzy Controller
- Fuzzy Control System
- Guarantee Cost Control
- Unmanned Helicopter
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Nonami, K.: Rotating Wing Aerial Robotics. Journal of the Robotics Society of Japan 24(8), 890–896 (2006)
Sugeno, M., et al.: Intelligent Control of an Unmanned Helicopter Based on Fuzzy Logic. In: Proc. of American Helicopter Society 51st Annual Forum, Texas (May 1995)
Sugeno, M.: Development of an Intelligent Unmanned Helicopter. In: Nguyen, H.T., Prasad, N.R. (eds.) Fuzzy Modeling and Control: Selected Works of M. Sugeno. CRC Press (1999)
Ohtake, H., Iimura, K., Tanaka, K.: Fuzzy Control of Micro Helicopter with Coaxial Counter-rotating Blades. In: SCIS and ISIS 2006, Tokyo, pp. 1955–1958 (September 2006)
Yoshihata, Y., Watanabe, K., Iwatani, Y., Hashimoto, K.: Multi-camera visual servoing of a micro helicopter under occlusions. In: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, USA, pp. 2615–2620 (October 2007)
Wang, W., et al.: Autonomous Control for Micro-Flying Robot and Small Wireless Helicopter X.R.B. In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, pp. 2906–2911 (October 2006)
Mori, R., Kubo, T., Kinoshita, T.: Vision-Based Hovering Control of a Small-Scale Unmanned Helicopter. In: SICE-ICASE International Joint Conference 2006, pp. 1274–1278 (2006)
Pastor, E., Lopez, J., Royo, P.: UAV Payload and Mission Control Hardware/Software Architecture. IEEE Aerospace and Electronic Systems Magazine 22(6), 3–8 (2007)
Antsev, G.V., et al.: UAV landing system simulation model software system. IEEE Aerospace and Electronic Systems Magazine 26(3), 26–29 (2011)
Lin, Y., Hyyppa, J., Jaakkola, A.: Mini-UAV-Borne LIDAR for Fine-Scale Mapping. IEEE Geoscience and Remote Sensing Letters 8(3), 426–430 (2011)
Kumon, M., et al.: Autopilot System for Kiteplane. IEEE/ASME Transactions on Mechatronics 11(5), 615–624 (2006)
Tanaka, K., et al.: Development of a Cyclogyro-Based Flying Robot With Variable Attack Angle Mechanisms. IEEE/ASME Transactions on Mechatronics 12(5), 565–570 (2007)
Jinok, S., et al.: Attitude Control and Hovering Control of Radio-Controlled Helicopter. Journal of the JSME, Part C 68(675), 3284–3291 (2002)
Kanade, T., Amidi, O., Ke, Q.: Real-time and 3D vision for autonomous small and micro air vehicles. In: 43rd IEEE Conference on Decision and Control, pp. 1655–1662 (2004)
Wu, H., Sun, D., Zhou, Z.: Micro air vehicle: configuration, analysis, fabrication, and test. IEEE/ASME Transactions on Mechatronics 9(1), 108–117 (2004)
Madangopal, R., Khan, Z.A., Agrawal, S.K.: Energetics-based design of small flapping-wing micro air vehicles. IEEE/ASME Transactions on Mechatronics 11(4), 433–438 (2006)
Gebre-Egziabher, D., Elkaim, G.H.: MAV attitude determination by vector matching. IEEE Transactions on Aerospace and Electronic Systems 44(3), 1012–1028 (2008)
McIntosh, S.H., et al.: Design of a mechanism for biaxial rotation of a wing for a hovering vehicle. IEEE/ASME Transactions on Mechatronics 11(2), 145–153 (2006)
Valenti, M., Bethke, B., How, J.P., de Farias, D.P., Vian, J.: Embedding Health Management into Mission Tasking for UAV Teams. In: Proceedings of American Control Conference 2007, pp. 5777–5783 (2007)
Ohtake, H., et al.: Fuzzy Control of Micro RC Helicopter with Coaxial Counter-rotating Blades. Journal of Society for Fuzzy Theory and Intelligent Informatics 21(1), 100–106 (2009)
Wang, W., et al.: Autonomous Control for Micro-Flying Robot and Small Wireless Helicopter X.R.B. In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, pp. 2906–2911 (October 2006)
Mori, R., Kubo, T., Kinoshita, T.: Vision-Based Hovering Control of a Small-Scale Unmanned Helicopter. In: SICE-ICASE International Joint Conference 2006, pp. 1274–1278 (2006)
Hirose, H., et al.: Visual Feedback Control of a Small RC Helicopter Using a Vehicle-Mounted Camera. In: 49th Administration Committee of Japan Joint Automatic Control Conference, pp. 332–335 (2006)
Mori, R., et al.: Vision-Based Guidance Control of a Small-Scale Unmanned Helicopter. In: Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2648–2653 (2007)
Iimura, K., et al.: Position Estimation and Control of an Indoor Micro Helicopter using an Attached Single Camera. In: The Proceedings of RoboMec Symposium 2009, Fukuoka, pp. 215–218 (May 2009)
Tanaka, K., Wang, H.O.: Fuzzy Control Systems Analysis and Design: A Linear Matrix Inequality Approach. John Wiley and Sons Publisher, New York (2001)
Tanaka, K., Yoshida, H., Ohtake, H., Wang, H.O.: A Sum of Squares Approach to Stability Analysis of Polynomial Fuzzy Systems. In: 2007 American Control Conference, New York, pp. 4071–4076 (July 2007)
Tanaka, K., Ohtake, H., Wang, H.O.: A Sum of Squares Approach to Modeling and Control of Nonlinear Dynamical Systems with Polynomial Fuzzy Systems. IEEE Transactions on Fuzzy Systems 17(4), 911–922 (2009)
Tanaka, K., Ohtake, H., Wang, H.O.: An SOS-based Stable Control of Polynomial Discrete Fuzzy Systems. In: 2008 American Control Conference, Seattle, Washington, pp. 4881–4886 (June 2008)
Tanaka, K., Ohtake, H., Wang, H.O.: Guaranteed Cost Control of Polynomial Fuzzy Systems via a Sum of Squares Approach. IEEE Transactions on Systems, Man and Cybernetics Part B 39(2), 561–567 (2009)
Tanaka, K., Ohtake, H., Wang, H.O.: A Sum of Squares Approach to Guaranteed Cost Control of Polynomial Discrete Fuzzy Systems. In: 17th IFAC World Congress, Seoul, Korea, pp. 6850–6854 (July 2008)
Prajna, S., Papachristodoulou, A., Seiler, P., Parrilo, P.A.: SOSTOOLS:Sum of Squares Optimization Toolbox for MATLAB, Version 2.00 (2004)
Sturm, J.F.: Using SeDuMi 1.02:a MATLAB toolbox for optimization over symmetric cones. Optimization Methods and Software 11(1), 625–653 (1999)
Tanaka, K., Ohtake, H., Tanaka, M., Wang, H.O.: Wireless Vision-based Stabilization of Indoor Micro Helicopter. IEEE/ASME Transactions on Mechatronics (accepted)
Takagi, T., Sugeno, M.: Fuzzy Identification of Systems and Its Applications to Modeling and Control. IEEE Trans. on SMC 15(1), 116–132 (1985)
Parrilo, P.A.: Structured Semidefinite Programs and Semialgebraic Geometly Methods in Robustness and Optimization. PhD thesis, California Institute of Technology, Pasadena, CA (2000)
Feng, G.: A Survey on Analysis and Design of Model-Based Fuzzy Control Systems. IEEE Trans. on Fuzzy Systems 14(5), 676–697 (2006)
Klein, G., Murray, D.: Parallel Tracking and Mapping for Small AR Workspaces. In: Proc. International Symposium on Mixed and Augmented Reality (ISMAR 2007), Nara (2007)
Davison, A., Reid, I., Molton, N.D., Stasse, O.: MonoSLAM: Realtime single camera SLAM. IEEE Trans. Pattern Analysis and Machine Intelligence 29(6), 1052–1067 (2007)
Eade, E., Drummond, T.: Edge landmarks in monocular slam. In: Proc. British Machine Vision Conference (BMVC 2006), Edinburgh (September 2006); BMVA
Eade, E., Drummond, T.: Scalable monocular slam. In: Proc. IEEE Intl. Conference on Computer Vision and Pattern Recognition (CVPR 2006), New York, NY, pp. 469–476 (2006)
Smith, R.C., et al.: On the representation and estimation of spatial uncertainty. International Journal of Robotics Research 5(4), 56–68 (1986)
Stewénius, H., Engels, C., Nistér, D.: Recent developments on direct relative orientation. ISPRS Journal of Photogrammetry and Remote Sensing 60, 284–294 (2006)
Komatsu, T., et al.: Model-based Control of a Small Indoor-type Helicopter. In: The Proceedings of RoboMec Symposium 2008, Nagano, pp. 101–104 (May 2008)
Tanaka, K., et al.: Micro Helicopter Control. In: IEEE World Congress on Computational Intelligence, Hong Kong, pp. 347–353 (June 2008)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Tanaka, K. (2012). A Unified Fuzzy Model-Based Framework for Modeling and Control of Complex Systems: From Flying Vehicle Control to Brain-Machine Cooperative Control. In: Liu, J., Alippi, C., Bouchon-Meunier, B., Greenwood, G.W., Abbass, H.A. (eds) Advances in Computational Intelligence. WCCI 2012. Lecture Notes in Computer Science, vol 7311. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-30687-7_10
Download citation
DOI: https://doi.org/10.1007/978-3-642-30687-7_10
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-30686-0
Online ISBN: 978-3-642-30687-7
eBook Packages: Computer ScienceComputer Science (R0)