AI SearchFPGA based adaptive PD fuzzy controller for flying robot
Call Number: AIT Thesis no.ME-02-05 Material type:
SeriesSeries: Asian Institute of Technology. Thesis ; no. ME-02-05Publication details: Bangkok : Asian Institute of Technology, 2002Description: 115 pSubject(s): Online resources: Dissertation note: Thesis (M.Eng.) - Asian Institute of Technology, 2002 Summary: 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.
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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.
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