Compound Fuzzy Control Technology Based on Biological Nature for Driving Birds

A compound feedforward control strategy is designed basing on flying birds biological nature in this paper, that makes detection sensing equipment and driving away equipment focus on the flying birds above the airport, such as photoelectric equipment to catch flying birds image and strong sound equipment or laser equipment drive away flying birds off the airport. Fuzzy controller is modeled mathematically by using bird vector flight speed, flying birds biological characteristics and flight state of flying birds. According to the stimulated behavior and random behavior of flying birds, fuzzy control rule base is established, and the fuzzy threshold of bird turning is defined basing on flying birds biological nature, and the feedforward control strategy is applied for unexpected action related to the fuzzy threshold. One adaptive feedforward unit based on the pan-tilt rotation model, which is added on the control strategy on fast PID algorithm to less local instability and improve complex dynamic behavior control result. By this way, the detection sensing equipment and driving away equipment can respond quickly under the condition of the flying bird changing direction suddenly, so that whole system can continue tracking the flying bird target and avoid series problems as loss of flying bird target by unexpected action of flying birds for disturbed item or biological nature. It fulfills the function of driving away the flying birds above the airport which can protect the safety of airplane and passengers.