An Autonomous Flight Control Strategy Study of a Small-Sized Unmanned Aerial Vehicle

Huaiyu WU  Dong SUN  Hongbing ZHU  Zhaoying ZHOU  

Publication
IEICE TRANSACTIONS on Electronics   Vol.E88-C   No.10   pp.2028-2036
Publication Date: 2005/10/01
Online ISSN: 
DOI: 10.1093/ietele/e88-c.10.2028
Print ISSN: 0916-8516
Type of Manuscript: PAPER
Category: Electronic Instrumentation and Control
Keyword: 
small-sized unmanned aerial vehicle,  autonomous flight,  fuzzy logic control,  

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Summary: 
The purpose of this paper is to present a case study of the development, implementation and performance analysis of an autonomous flight control strategy for a 1-meter small-sized unmanned aerial vehicle. Firstly, a learning algorithm based open-loop control is proposed by simulating a skilled human operator's manipulation of the aircraft. This is aimed to generate a set of command data inputs and investigate the multi-channel control characteristics with the open-loop control. Secondly, a feedforward plus a proportional and derivative (PD) feedback control is employed to control the vehicle in following the command data to complete the loitering flight. The PD control gains are tuned automatically according to the attitude of the vehicle using the fuzzy logic theory. Thirdly, autonomous flight experiments conducted on a 1-meter small-sized aerial vehicle demonstrated the effectiveness of the proposed method.