Abstract
In this paper the design process of a fuzzy logic based controller for a coaxial micro helicopter is presented. The developed controller for altitude, attitude, and position control is tested through simulations on an identified non-linear model of the helicopter. The robustness properties of the controller to parameter variations of the model is assessed, as well as, its ability to accommodate or absorb external disturbances.
Article PDF
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.Avoid common mistakes on your manuscript.
References
Abbeel, P., Coates, A., Quigley, M., Ng, A.Y.: An application of reinforcement learning to acrobatic helicopter flight. In: Proceedings of Neural Information Processing Systems (NIPS) (2007)
Bohorquez, F., Rankinsy, F., Baederz, J., Pines, D.: Hover performance of rotor blades at low Reynolds numbers for rotary wings micro air vehicles. An experimental and CFD study. AIAA Applied Aerodynamics Conference, Orlando (2003)
Bouabdallah, S., Siegwart, R., Caprari, G.: Design and control of an indoor coaxial helicopter. In: IEEE Proceedings International Conference on Intelligent Robots (IROS’06), Beijing, China (2006)
Bouabdallah, S., Siegwart, R.: Backstepping and Sliding-Mode technique appied to an indoor micro quadrotor. In: IEEE International Conference on Robotics and Automation (ICRA 2005), pp. 2247–2252 (2005)
Chen, L., McKerrow, P.H.: Modeling the lama coaxial helicopter. In: Proceedings of the Australasian Conference on Robotics and Automation, Brisbane, pp. 1–9. http://ro.uow.edu.au/infopapers/731 (2007)
Coates, A., Abbeel, P., Ng, A.Y.: Learning for control from multiple demonstrations. In: Proceedings of the 25th International Conference on Machine Learning, Helsinki, Finland (2008)
Metler, B.: Identification Modeling and Characteristics of Miniature Rotorcraft. Kluwer Academic Publishers (2003)
Nikolos, Y., Doitsidis, L., Christopoulos, V., Tsourveloudis, N.C.: Roll control of unmanned aerial vehicles using fuzzy logic. WSEAS Trans. Syst. 4(2), 1039–1047 (2003)
Passow, B.N., Gongora, M.A., Smith, S., Hopgood, A.A.: Managing uncertainty in sound based control for an autonomous helicopter. In: Proceedings of the IEEE Symposium Series on Computational Intelligence, Nashville, TN, USA (2009)
Scharfroth, D., Bouabdallah, S., Bernes, C., Siegwart, R.: From the Test-benches to the first prototype of the muFly micro helicopter. J. Intell. Robot. Syst. 54(1–3), 245–260 (2008)
Schafroth, D., Bernes, C., Bouabdallah, S., Siegwart, R.: Modeling, system identification and robust control of a coaxial micro helicopter. Control Engineering Practice 18, 700–711 (2010)
Spanoudakis, P., Doitsidis, N., Tsourveloudis, N., Valavanis, K.P.: A market overview of the vertical take-off and landing UAVs. In: Workshop on Unmanned Aerial Vehicles, 11th Mediterranean Conference on Control and Automation, Rhodes, Greece (2003)
Sugeno, M., et al.: Intelligent control of an unmanned helicopter based on fuzzy logic. In: Proceedings of American Helicopter Society, 51st Annual Forum, Texas (1996)
Sanchez, E., Becerra, H., Velez, C.: Combining fuzzy and pid control for an unmanned helicopter. In: Proceedings of the Annual Meeting of the North American Fuzzy Information Processing Society, Cuadalajara, Mexico, pp. 235–240 (2005)
Tanaka, K., Komatsu, T., Ohtake, H.: Micro helicopter control: LMI approach vs SOS approach. In: Proceedings of the IEEE International Conference on Fuzzy Systems (FUZZ), pp. 347–353 (2008)
Tsourveloudis, N., Doitsidis, L., Valavanis, K.P.: Autonomous navigation of unmanned vehicles: a fuzzy logic perspective. In: Cutting Edge Robotics, pp. 291–310 (2005). ISBN:3–86611–038–3
Vidolov, B., Miras, J.D., Bonnet, S.: A two-rule-based fuzzy logic controller for contrarotating coaxial rotors UAV. In: Proceedings of the IEEE International Conference on Fuzzy Systems, Vancouver, Canada, pp. 1563–1569 (2006)
Vitzilaios, N., Tsourveloudis, N.: An experimental test bed for small unmanned helicopters. J. Intell. Robot. Syst. 54(4), 769–794 (2009)
Wang, F., Wang, T., Chen, B., Lee, T.: An indoor unmanned coaxial rotorcraft system with vision positioning. In: Proceedings of the 8th IEEE International Conference on Control and Automation, Xiamen, China, pp. 291–296, 9–11 June 2010
Wang, W., Kenzo, N., Yuta, O.: Model reference sliding mode control of a small helicopter X.R.B based on vision. Int. J. Adv. Robot. Syst. 5(3), 235–242 (2008)
Wang, W., Song, G., Nonami, K., Hirata, M., Miyazawa, O.: Autonomous control for micro-flying robot and small wireless helicopter X.R.B. In: Proceedings of the IEEE International Conference on Intelligent robots and Systems, Beijing, China (2006)
Wu, S., Zheng, Z., Cai, K.-Y.: Indoor autonomous hovering control for a small unmanned coaxial helicopter. In: Proceedings of the IEEE International Conference on Control and Automation, Xiamen, China, pp. 267–272, 9–11 June 2010
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Limnaios, G., Tsourveloudis, N. Fuzzy Logic Controller for a Mini Coaxial Indoor Helicopter. J Intell Robot Syst 65, 187–201 (2012). https://doi.org/10.1007/s10846-011-9573-5
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10846-011-9573-5