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Part of book or chapter of book . 2007 . Peer-reviewed
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Part of book or chapter of book . 2007 . Peer-reviewed
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Self-tunable Fuzzy Inference System: A Comparative Study for a Drone

descriptionPublicationkeyboard_double_arrow_right Part of book or chapter of book , Article , Conference object 19 Sep 2007 France Publisher:Springer Berlin Heidelberg
Authors: Maaref, Hichem; Zemalache, Kadda; Beji, Lotfi;

doi: 10.1007/978-3-540-72434-6_70 , 10.1007/978-3-540-72432-2_78

Self-tunable Fuzzy Inference System: A Comparative Study for a Drone

Abstract

The work describes an automatically on-line Self-Tunable Fuzzy Inference System (STFIS) of a mini-flying called XSF drone. A Fuzzy controller based on an on-line optimization of a zero order Takagi-Sugeno fuzzy inference system (FIS) by a back propagation-like algorithm is successfully applied. It is used to minimize a cost function that is made up of a quadratic error term and a weight decay term that prevents an excessive growth of parameters. Simulation results and a comparison with a Static Feedback Linearization controller (SFL) are presented and discussed. A path-like flying road, described as straight-lines with rounded corners permits to prove the effectiveness of the proposed control law.

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France
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Keywords

[SPI.SIGNAL] Engineering Sciences/Signal and Image processing, Optimization, [ INFO.INFO-TS ] Computer Science [cs]/Signal and Image Processing, Tracking control, [INFO.INFO-TS] Computer Science [cs]/Signal and Image Processing, [INFO.INFO-IM] Computer Science [cs]/Medical Imaging, [ SPI.SIGNAL ] Engineering Sciences [physics]/Signal and Image processing, Dynamic systems, [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, [ INFO.INFO-TI ] Computer Science [cs]/Image Processing, [INFO.INFO-IM]Computer Science [cs]/Medical Imaging, [SPI.SIGNAL] Engineering Sciences [physics]/Signal and Image processing, [ INFO.INFO-IM ] Computer Science [cs]/Medical Imaging, Fuzzy Inference System, [INFO.INFO-TS] Computer Science/Signal and Image Processing, Drone, Static Feedback Linearization controller, [INFO.INFO-TI] Computer Science [cs]/Image Processing [eess.IV], [INFO.INFO-TI]Computer Science [cs]/Image Processing [eess.IV], [INFO.INFO-IM] Computer Science/Medical Imaging, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing, [INFO.INFO-TI] Computer Science/Image Processing

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    This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
    		 3
    popularity
    This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
    		 Average
    influence
    This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
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    impulse
    This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
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citations
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
3
Average
Average
Average