Create a fuzzy logic controller that

muscleblouseAI and Robotics

Oct 19, 2013 (3 years and 10 months ago)

95 views

Team #9

Julian Jaramillo

Craig Cobabe

Edward Robinson

Chris Pitts

Sep 15, 2012

Create a fuzzy logic controller that
utilizes a neural network to control a
wide range of aerial vehicles.


UAV’s are better than manned systems for many
tasks. However, UAV’s are hard to integrate because
creating attitude feedback controllers is difficult.



Re
-
built the T
-
Rex 450



Re
-
structured Fuzzy library


Created rule classes



Interfaced control parameters to GCS


Flew the T
-
Rex 450 and Raptor 90 with out of
the box configuration


Successfully simulated fuzzy control over
pitch via HIL


Flew with stock
Arducopter



Crashed T
-
Rex 450


Rebuilt T
-
Rex 450


Interfaced parameters through
mavlink


Compiled example code utilizing CUDA NN
Libs


Flight test after rebuild



Ongoing


Real flight testing of PI controllers with T
-
Rex
450


Coding


Pending


Tune Model in RC simulator based on real flight
tests


More
simlations

HIL with fuzzy controller


newly
interfaced parameters


Real Flight test of fuzzy controller



Tune Model



Begin Fuzzy Controller design



Website


Due 10/12



Invention Disclosure Document


Due 9/28




10%

15%

15%


Arducopter



22,832 lines of code


Doesn’t include the
gui


Adding code slow and tedious



Ardiuno

IDE doesn’t cut it


Visualmicro

plug in!