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The flight control design of a dragonfly-like flapping wing micro aerial vehicle (FWMAV) is studied in this paper. The main contribution of this work is to design an appropriate flight controller by incorporating a linear-quadratic regulator (LQR) method and an iterative learning tuning (ILT). The linear model of dragonfly-like FWMAV is developed at the equilibrium point. Then a linear-quadratic regulator...
Traditionally controller tuning is model based. In many practical applications, however, the process model cannot be obtained and model-free tuning is imperative. In industrial control the huge amount of data is available, but we lack effective controller tuning schemes that are data driven instead of model driven. To address this issue, in this paper we first introduce the concept of feature space...
In this paper we propose a new fuzzy logic controller (FLC) for unicycle control. The FLC design integrates the linear quadratic regulator (LQR) and the gain-scheduling approach. By comparing FLC with the LQR designed around an operating point, the FLC coefficients can be easily tuned in a systematic way. The new FLC design aims at achieving three objectives: overcoming the difficulty in tuning the...
PID is the most predominant industrial controller that constitutes more than 90% feedback loops. Time domain performance of PID, including overshoot, settling time and rise time, is directly relevant to the tuning of PID parameters. In this work we propose an optimal tuning method for PID by means of iterative learning. PID parameters will be updated whenever the same control task is repeated. A novel...
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