Xu G. The Robust Autopilots for Small Unmanned Aerial Vehicles Based on Fuzzy Logic

Dissertation is devoted to design of the robust systems of small Unmanned Aerial Vehicles (SUAV) flight stabilization, based on the application of both fuzzy controllers (FC) in the outer control loops and inner "crisp" feedbacks. The "crisp" control law, synthesized by parametric H2/H?- optimization, is a basis or prototype for such systems. The method of division of received system on fuzzy and "crisp" parts is offered. The method of tuning of FC membership functions parameters is developed on the basis of the minimum of integral quadratic error between the outputs of the closed-loop system with FC and the reference model, which is based on a "crisp" robust prototype. The control law is developed, based on the FC learning during the control process by the model of fuzzy logic inversion and reference model. The developed methods were applied for the synthesis of control laws for the SUAV longitudinal and lateral motions at presence of uncertainties in the mathematical models of the SUAV dynamics. The simulation of the offered systems at the determined and random disturbances demonstrated their high efficiency.