AI SearchFPGA based adaptive PD fuzzy controller for flying robot
Chaiyong Lamprom
FPGA based adaptive PD fuzzy controller for flying robot - Bangkok : Asian Institute of Technology, 2002 - 115 p. - Thesis ; no. ME-02-05 . - Asian Institute of Technology. Thesis ; no. ME-02-05 .
thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies
Thesis (M.Eng.) - Asian Institute of Technology, 2002
The paper illustrated Field Programmable Gate Arrays ( FPGA) based adaptive proportional Derivative controller for a flying robot. The Kalt 30 Baron nonlinear Helicopter model is used as a mobile platform in which Xilinx xc4062xla will be used as a controller system. A digital compass tcm2-50 was used to measure the heading direction. This thesis study presents the adaptive fuzzy TSK controller by control output error method ( COEM ) and its implementation to hardware controller. The system is partially autonomous because only a heading direction is designed . The lateral and floating height of the flying robot is manually by cyclic controlled by a human pilot . However it is only an approach of control scheme that it needs to be redesign for pitch, roll and floating height.
Field programmable gate arrays
Robots--Control systems
Fuzzy systems
FPGA based adaptive PD fuzzy controller for flying robot - Bangkok : Asian Institute of Technology, 2002 - 115 p. - Thesis ; no. ME-02-05 . - Asian Institute of Technology. Thesis ; no. ME-02-05 .
thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies
Thesis (M.Eng.) - Asian Institute of Technology, 2002
The paper illustrated Field Programmable Gate Arrays ( FPGA) based adaptive proportional Derivative controller for a flying robot. The Kalt 30 Baron nonlinear Helicopter model is used as a mobile platform in which Xilinx xc4062xla will be used as a controller system. A digital compass tcm2-50 was used to measure the heading direction. This thesis study presents the adaptive fuzzy TSK controller by control output error method ( COEM ) and its implementation to hardware controller. The system is partially autonomous because only a heading direction is designed . The lateral and floating height of the flying robot is manually by cyclic controlled by a human pilot . However it is only an approach of control scheme that it needs to be redesign for pitch, roll and floating height.
Field programmable gate arrays
Robots--Control systems
Fuzzy systems