Fuzzy-Genetic Autopilot Design for Nonminimum Phase and Nonlinear Unmanned Aerial Vehicles

摘要

In this paper, the authors tried to design the altitude hold mode autopilot for unmanned aerial vehicles. This case presents an interesting challenge attributable to the nonminimum phase characteristic, nonlinearities, and uncertainties of the altitude to elevator relationship. A fuzzy logic autopilot in a single-loop scheme is proposed for the design of this autopilot. The multiobjective genetic algorithm is used to mechanize the optimal determination of fuzzy logic autopilot parameters on the basis of an efficient cost function that comprises undershoot, overshoot, rise time, settling time, steady state error, and stability. Simulation results show that the proposed strategy not only has a simple structure, but also has desirable performances in time response characteristics, robustness (against the unmodeled nonlinear terms and parametric uncertainties), and the adaptation of itself than the large commands.