FUZZY LOGIC ADAPTIVE CONTROLLER FOR UNMANNED HELICOPTER A MULTI-PLATFORM, ROTARY-WINGED AERIAL ROBOTIC CONTROL SYSTEM

摘要

The Fuzzy Logic Adaptive Controller for Helicopters (FLAC-H) demonstration is a cooperative effort between the US Army Simulation, Training, and Instrumentation Command (STRICOM), the US Army Aviation and Troop Command (ATCOM), and the US Army Missile Command (MICOM) to demonstrate a low-cost drone control system for both full-scale and sub-scale helicopters. FLAC-H was demonstrated on one of STRICOM's fleet of full-scale rotary-winged target drones and will be employed on ATCOM's sub-scale Free Flight Rotorcraft Research Vehicle. FLAC-H exploits fuzzy logic in its flight control system to provide a robust solution to the control of the helicopter's dynamic, non-linear system. Straight forward, common sense fuzzy rules governing helicopter flight are processed instead of complex mathematical models. This has resulted in a simplified solution to the complexities of helicopter flight. Incorporation of fuzzy logic reduced the cost of development and should also reduce the cost of maintenance of the system. An adaptive algorithm allows the FLAC-H to "learn" how to fly the helicopter, enabling the control system to adjust to varying helicopter configurations. The adaptive algorithm, based on genetic algorithms, alters the fuzzy rules and their related sets to improve the performance characteristics of the system. This learning allows FLAC-H to automatically be integrated into a new airframe, reducing the development costs associated with altering a control system for a new or heavily-modified aircraft. Successful flight tests of the FLAC-H on a UH-1H target drone were completed in September 1994 at the White Sands Missile Range in New Mexico. This paper discusses the objective of the system, its design, and performance.