چكيده انگليسي :
Design adaptive fuzzy control for UAV Ehsan Khodabandeh Samani e khodabandeh@ec iut ac ir Date of Submission 2014 09 21 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi mzekri@cc iut ac irSupervisor Javad Askari j askari @cc iut ac ir Maryam Zekri Abstract Unmanned aerial vehicle UAV refers to an aircraft controlled remotely or by an onboard autopilot It can be equipped by a variety of devices such as cameras sensors and communication systems UAVs areable to perform various operations including aerial tracking battlefield imaging ground or aerial targetstracking electronic warfare suicide bombings and etc UAVs have less manufacturing and maintenancecosts compared to the piloted aircrafts Current technologies are fairly sufficient for UAV systems in structured environments however thesehave problems in environments with uncertainties Therefore an automatic control is proposed for UAV Automatic control systems are designed in a way that they can response in the presence of significantuncertainties in system and environment These systems without the intervention of external factors shouldbe able to overcome the problems caused by failures Automatic control systems utilize artificial intelligencetechniques to achieve this level of self analysis In this research the indirect adaptive fuzzy controller is used to control the position of the UAV Phase detector parameters are updated by the error between model output and the indicator output in onlinefashion Sensitivity variation of the ratio of output to input of UAV is approximately equal to the sensitivityof the detector Using the detector sensitivity and the difference between the desired input and system output parameters of fuzzy controller become adaptive increasing the convergence of the system Keywords Unmanned aerial vehicle UAV fuzzy adaptive control sensitivity
