Helicopter Orbital Flights Using Fuzzy Knowledge Based on Associative Memories and Its Knowledge Refinement.(Journal of Japan Society for Fuzzy Theory and Systems)
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概要
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We propose a two-degree-of-freedom control system using fuzzy knowledge. We apply this control system to the realization of small helicopter orbital flights. The operation knowledge of orbital flights consists of two type knowledges; l)stabilizing flight operation knowledge (which has operation models corresponding to its physical characteristic that change by the flying altitude) and 2)ideal orbit pattern knowledge(which shows a dynamic pattern that let the helicopter fly on ideal orbit pattern considering helicopter response). We propose a two-degree-of-freedom fuzzy control system using two types of fuzzy knowledge; 1)Static Fuzzy Knowledge(SFK) which shows the rule representation of"If the condition then its operation model."and 2)Dynamic Fuzzy Knowledge(DFK) which shows a operation pattern. To represent SFK and DFK and to modify them using a training method, we use Fuzzy Associative Memory Organizing Unit System (FAMOUS) which combine fuzzy knowledge representation and neural network learning and association. It is difficult for if-then rules to carry out orbital flights because the rule representation is too complex for the pilot to be acquired. But this two-degree-of-freedom fuzzy control system can carry out orbital flights using combinations of compact SFK and DFK which are individually acquired from the pilot under each flight condition. We show that proposed two-degree-of-freedom fuzzy control system using FAMOUS is useful for a orbital control by the helicopter experiments of circle flight and eight-figure flight.
- 日本知能情報ファジィ学会の論文
- 1992-10-15
著者
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Mizoguchi Yumiko
Faculty Of Engineering Chiba University
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YAMAGUCHI Toru
Laboratory for International Fuzzy Engineering Research
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MITA Tutomu
Faculty of Engineering, Chiba University
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Mita Tutomu
Faculty Of Engineering Chiba University