Fuzzy Controller for small size unmanned aerial vehicles

Abstract

The AERObot autopilot for small and medium size unmanned aerial vehicles (UAVs) developed at Óbuda Universtiy has multiple control systems. It is possible to switch between the control systems even during in flight. The purpose of the current research was to examine the applicability of full fuzzy flight control (takeoff, cruise and land) in unmanned aerial vehicles instead of partial or hybrid control [1, 2, 3]. The easy tuning of the parameters and features is quite important because one autopilot should control different sized and designed planes. Since the safety of the flight, life and value is the most important, real test flights should always be performed after many hours of computer simulation. For this purpose Hardware In the Loop simulation was used. The advantage of this simulation is that the very same environment can be created as in real flights (e.g. atmospheric, aerodynamic, propulsion model, different weather conditions). After successful simulations the real test flights can be started.