Fuzzy logic controlled UAV autopilot using C-Mean clustering

The implementation of fuzzy logic control for autonomous UAV autopilots is achieved by having two sets of fuzzy rules, one for controlling the change in heading (horizontal plane controller) and the other for controlling the change in altitude (vertical plane controller) of the aircraft. This paper is a general presentation on the topic of fuzzy logic controlled UAV autopilots as well as a presentation of how the input and output membership functions are chosen for both the horizontal plane and vertical plane controller from Fuzzy C-Mean clustering. This paper also provides a sample implementation of the controllers for verification of process and proof that the use of C-Mean clustering for generation of membership functions is a good method. The understanding established in this paper is critical for the development and implementation of a successful fuzzy logic autopilot.