FPGA based adaptive PD fuzzy controller for flying robot | |
| Author | Chaiyong Lamprom |
| Call Number | AIT Thesis no.ME-02-05 |
| Subject(s) | Field programmable gate arrays Robots Control systems Fuzzy systems |
| Note | thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ME-02-05 |
| Abstract | The paper illustrated Field Programmable Gate Arrays ( FPGA) based adaptive proportional Derivative controller for a flying robot. The Kalt 30 Baron nonlinear Helicopter model is used as a mobile platform in which Xilinx xc4062xla will be used as a controller system. A digital compass tcm2-50 was used to measure the heading direction. This thesis study presents the adaptive fuzzy TSK controller by control output error method ( COEM ) and its implementation to hardware controller. The system is partially autonomous because only a heading direction is designed . The lateral and floating height of the flying robot is manually by cyclic controlled by a human pilot . However it is only an approach of control scheme that it needs to be redesign for pitch, roll and floating height. |
| Year | 2002 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ME-02-05 |
| Type | Thesis |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Letisak Lekawat; |
| Examination Committee(s) | Manukid Parnichkun;Chumnarn Punyasai; |
| Scholarship Donor(s) | Thailand Graduate of Science and Technology(TGIST);National Science and Technology Development Agency (NSTDA); |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2002 |