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Communication Dans Un Congrès Année : 2007

Self-Tunable Fuzzy Inference System: A comparative study for a drone

Résumé

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.

Dates et versions

hal-00342234 , version 1 (26-11-2008)

Identifiants

Citer

Hichem Maaref, Kadda Zemalache, Lotfi Beji. Self-Tunable Fuzzy Inference System: A comparative study for a drone. International Fuzzy Systems Association (IFSA), 2007, Cancun, Mexico. pp.780--789, ⟨10.1007/978-3-540-72432-2_78⟩. ⟨hal-00342234⟩
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