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035 _a.b11896036
099 9 _aAIT Thesis no.ME-02-05
100 0 _aChaiyong Lamprom
245 1 0 _aFPGA based adaptive PD fuzzy controller for flying robot
260 _aBangkok :
_bAsian Institute of Technology,
_c2002
300 _a115 p.
490 1 _aThesis ;
_vno. ME-02-05
500 _athesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies
502 _aThesis (M.Eng.) - Asian Institute of Technology, 2002
520 _aThe 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.
650 0 _aField programmable gate arrays
650 0 _aRobots
_xControl systems
650 0 _aFuzzy systems
700 0 _aLertsak Lekawat,
_eChairperson
700 0 _aManukid Parnichkun,
_eExamination Committee
700 1 _aChumnarn Punyasai,
_eExamination committee
710 2 _aThailand Graduate of Science and Technology(TGIST),
_eScholarship Donor
710 2 _aNational Science and Technology; Development Agency (NSTDA),
_eScholarship Donor
810 2 _aAsian Institute of Technology.
_tThesis ;
_vno. ME-02-05
856 _3Full-Text
_uhttp://203.159.5.9/ait-thesis/detail.php?q=B07339
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