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Design and Implementation of a Control and Navigation System for a Small Unmanned Aerial Vehicle

机译：小型无人驾驶车辆控制和导航系统的设计与实现

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This paper describes the development of a control and navigation system for a small scale unmanned aerial vehicle (UAV) using as strategy a combination of classical control and Fuzzy Inference Systems (FIS). In this sense, the air-plane has been modelled through analytical techniques that use empirical estimations to compute the force and moment components acting on the aircraft. The control systems were designed using the aircraft's transfer functions to reach a desirable response for each command. Finally, the navigation control system is designed using a FIS to control the roll of the aircraft and the yaw control system to control the aircraft's heading. A route composed of waypoints is generated following a rummage of a selected area. The control systems are, then, tested in a simulated environment to ensure they accomplish the desired mission when they work together.
机译：本文介绍了使用作为策略组合的古典控制和模糊推理系统（FIS）的小型无人驾驶飞行器（UAV）的控制和导航系统的开发。从这个意义上讲，通过使用经验估计来计算作用在飞机上的力和力矩部件的分析技术进行了建模。使用飞机的传输功能设计了控制系统，以达到每个命令的理想响应。最后，导航控制系统使用FIS设计了控制飞机的卷和偏航控制系统来控制飞机的标题。在选定区域的RUMMAGE之后生成由航点组成的路由。然后，控制系统在模拟环境中测试，以确保它们在一起工作时实现所需的任务。

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