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Resumen

 

FUZZY IDENTIFICATION AND PARALLEL DISTRIBUTED COMPENSATION FOR CRUISE FLIGHT PHASE OF A BLIMP

IDENTIFICACION DIFUSA Y COMPENSACION PARALLELA DISTRIBUIDA PARA FASE DE VUELO CRUCERO DE UN DIRIGIBLE
Ing. Erik Díaz.
PhD. Leonardo E. Solaque Guzmán.
PhD. Alain Gauthier Sellier.

Abstract: The goal of this paper is to present some results of the study of fuzzy techniques for identification and control of non linear systems, applied on a blimp during the phase of cruise flight. This work intends to contribute to the UrAn project developed by the GIAP group of the University of Los Andes, whose objective is the autonomous flight of this aerial platform. To find a good representation of the system, we use Takagi- Sugeno (TS) fuzzy identification where the dynamics of the blimp are represented in groups of if-then rules, each rule having a linear model corresponding to a local dynamic. Using this fuzzy model structure, it was design a controller based on the Parallel Distributed Compensation (PDC) technique.

Resumen: El objetivo de este trabajo es presentar resultados del estudio de las técnicas difusas para la identificación y control de sistemas no lineales, aplicados en un dirigible durante la fase de vuelo crucero. Este trabajo se propone contribuir al proyecto UrAn desarrollado por el grupo GIAP de la Universidad de Los Andes, cuyo objetivo es el vuelo autónomo de esta plataforma aérea. Para encontrar una buena representación del sistema, se utiliza la identificación difusa Takagi-Sugeno (TS) donde la dinámica de los dirigibles están representados en los grupos de reglas si-entonces, cada regla tiene un modelo lineal que corresponde a una dinámica local. Usando este modelo de estructura difusa, se diseña un regulador basado en la técnica de compensación paralela distribuida.

Keyword: Blimp, fuzzy identification, Parallel distributed compensation, TS fuzzy model.