By Topic

Intelligent adaptive trajectory tracking control using fuzzy basis function networks for an autonomous small-scale helicopter

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Ching-Chih Tsai ; Dept. of Electr. Eng., Nat. Chung Hsing Univ., Taichung, Taiwan ; Chi-Tai Lee ; Kao-Shing Hwang

This paper presents an intelligent adaptive trajectory tracking controller using fuzzy basis function networks (FBFN) for an autonomous small-scale helicopter. With the on-line FBFN approximation to the vehicle mass and the coupling effect between the force and the moments, the intelligent adaptive controller is systematically synthesized using backstepping technique. This controller is shown to achieve the semi-global ultimate boundedness of the closed-loop helicopter dynamics and accommodate agile flight maneuvers in trajectory tracking. The effectiveness and merit of the proposed method are exemplified by performing one nonlinear simulation and by performance comparison with a well-known controller.

Published in:

Systems, Man, and Cybernetics (SMC), 2011 IEEE International Conference on

Date of Conference:

9-12 Oct. 2011