基於適應性模糊邏輯控制器的無人載具自動降落系統設計

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基於適應性模糊邏輯控制器的無人載具自動降落系統設計

Design of an Automatic Landing System Based on Adaptive Fuzzy Logic Control for Fixed-Wing Unmanned Aerial Vehicles

詹凱仲 , Masters　　Advisor：詹紹勳　　

英文

無人載具；黑面琵鷺號；模糊邏輯控制器；自動降落系統； Spoonbill UAV ； Fuzzy Logic Controller ； automatic landing system

Abstract │ Reference (28) │ Altmetrics

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An automatic landing system for fixed-wing UAVs (Unmanned Aerial Vehicles) was designed in this study, verified in the hardware-in-loop simulation and with the goal of real flight test. Because of the landing procedure for UAV was different from civil aviation, the landing data collected from real flight tests were analyzed for design the automatic landing strategy. The experimental platform is the Spoonbill-100 UAV system which was designed by the Remotely Piloted Vehicle & Micro Satellite Research Laboratory (RMRL) at National Cheng Kung University (NCKU). For fast development and verification, the fuzzy logic controller was applied on the flight control system which was including lateral control, longitudinal control and navigation strategy. Especially, the adaptive fuzzy was applied on the altitude control from change the membership function of the fuzzy controller. The adaptive altitude control made the UAV have better response during landing process. About the real flight test, the most important data were position and altitude. Those data was provided by the Differential Global Positioning System (DGPS) which was a good reference for testing the automatic landing system.

Reference ( 28 ) 〈TOP〉

[2]. Jang, J. S., and Tomlin, C. J., (2001). “Autopilot Design for the Stanford Dragon Fly UAV: Validation through Hardware-in-the-Loop Simulation,” Proceedings of the AIAA GNC Conference, Montreal, Canada.
連結：
[3]. Santoso, F., Liu, M., and Egan, G., (2008). “H-2 and H-Infinity Robust Autopilot Synthesis for Longitudinal Flight of a Special Unmanned Aerial Vehicle: a Comparative Study,” IET Control Theory and Applications, Vol. 2, No. 7, pp. 583-594.
連結：
[7]. Lai, Y.C., and Hsiao, F.B., (2010). Application of Fuzzy Logic Controller and Pseudo-Attitude to the Autonomous Flight of an Unmanned Aerial Vehicle, Journal of the Chinese Institute of Engineers, Vol. 33, No. 3, pp. 387-396
連結：
[15]. S. Kurnaz, O. Çetin, Autonomous Navigation and Landing Tasks for Fixed Wing Small Unmanned Aerial Vehicles, Acta Polytechnica Hungarica Vol. 7, No. 1, 2010, pp. 87-102
連結：
[1]. Chan, W.L., (2005). “Computer Aided Landing Control System Design For A Fix Wing UAV”, Master Thesis, IAA, National Cheng Kung University, Taiwan.

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