Vision-Based Fuzzy 2D Motion Control of a Model Helicopter

Author

Tadayoni, S.A. ; Gholami, B. ; Demirli, K.

Author_Institution

Dept. of Mech. Eng., Concordia Univ., Montreal, Que.

fYear

2006

fDate

3-6 June 2006

Firstpage

714

Lastpage

719

Abstract

In this paper the 2D motion of a model helicopter is studied. The position control of a 2D model helicopter falls into complex nonlinear problems domain which makes it rather hard. In this paper a fuzzy controller is proposed to stabilize the helicopter on a designated target. The 3D model of the helicopter is simplified to derive a 2D model and all the states are assumed to be measurable. Based on the model, it was possible to decouple the position and orientation control of the helicopter. However the two parts are related through a fuzzy rule base. To verify the proposed method a simulation program is written in C++ which takes advantages of OpenGL to enable having 3D features. The response graphs are then presented

Keywords

computer vision; fuzzy control; helicopters; motion control; nonlinear control systems; position control; stability; C++; OpenGL; complex nonlinear problems; fuzzy controller; helicopter control; position control; response graphs; vision-based fuzzy 2D motion control; Control systems; Fuzzy control; Helicopters; Mechanical engineering; Motion control; Nonlinear control systems; Nonlinear equations; Position control; Position measurement; Vehicle dynamics; Fuzzy Control; Model Helicopter; Position Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Information Processing Society, 2006. NAFIPS 2006. Annual meeting of the North American

Conference_Location

Montreal, Que.

Print_ISBN

1-4244-0362-6

Electronic_ISBN

1-4244-0363-4

Type

conf

DOI

10.1109/NAFIPS.2006.365497

Filename

4216890