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A fuzzy based tuning mechanism of the Kalman filter (KF), for the purpose of attitude estimation using low cost Micro-Electro-Mechanical System (MEMS) sensors is proposed. The conceived system is fitted with three axis gyroscope, accelerometer and magnetometer as the sensor suite. The filter's dynamics is based on a quaternion based attitude propagation model using rate gyros; with the other two sensors...
This paper discusses the Intelligent Gain Scheduled PD technique to autonomously control the attitude of the Quad Copter. This paper would focus on two aspects of the autonomous quad-copter i.e. Attitude Control and Trajectory Following. The autonomous control of a quad-copter is a challenge due to its non-linear dynamics and environmental perturbations. The aim of the investigation is to study a...
In this paper, a Fuzzy-PI controller with the functionality of self-tuning scaling factors is discussed. The tuning scheme is designed with an easy structure and applied to the input variables of the system to get the best response during the transient and the steady state. The aim is to attain good performance such as rise time, overshoot and steady state error for the step response. A third order...
This paper focuses on improved version of fuzzy control arrangement, for control of under-actuated two-link ROBOT. The proposed fuzzy controller stabilizes and balances the acrobat in erect position. A Linear Quadratic Regulator (LQR) was first designed for controlling purpose. LQR scaling gains were incorporated to design the fuzzy logic controller. The efficiency of the proposed fuzzy system is...
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