Flying Vehicle Control with Fuzzy Model and Its Stabilization Study

Abstract

We propose a flying vehicle hovering control method using fuzzy model rule which is made by human's control knowledge. We solve the stabilizable condition of this fuzzy controller, and we use this stabilizable condition to realize the learning control. This learning control simulates human's training steps. The control knowledge is shown as the pair of “the condition (for example the upper flying or the lower flying)” and “the operation (controller)”. At the learning, each operation is individually trained under its flying condition. We show the actual hovering experimantation results to show the usefulness of this control method and its stabilization study.