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Status Report #2 UAV - Adaptable Fuzzy logic controller

Status Report #2 UAV - Adaptable Fuzzy logic controller. Sep 17, 2012. Team #9 Julian Jaramillo Craig Cobabe Edward Robinson Chris Pitts. Create a fuzzy logic controller that utilizes a neural network to control a wide range of aerial vehicles. . Overall Need.

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Status Report #2 UAV - Adaptable Fuzzy logic controller

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  1. Status Report #2UAV - Adaptable Fuzzylogic controller Sep 17, 2012 Team #9 Julian Jaramillo Craig Cobabe Edward Robinson Chris Pitts • Create a fuzzy logic controller that utilizes a neural network to control a wide range of aerial vehicles.

  2. Overall Need • UAV’s are better than manned systems for many tasks. However, UAV’s are hard to integrate because creating attitude feedback controllers is difficult. Milestones • Fuzzy library code – 9/28/12 • Neural Network integration – 10/26/12 • Simulation and real flight testing – 11/12/12

  3. Tasks Completed • Successfully simulated fuzzy control over pitch via HIL • Interfaced parameters through mavlink • Compiled example code utilizing CUDA NN Libs • Solved some controller issues using simulation. • Flight test after rebuild • Crashed T-Rex 450… Again • Replaced broken gears in T-Rex 450

  4. Ongoing/Pending Tasks Ongoing • Real flight testing of PI controllers with T-Rex 450 • Coding Pending • Tune Model in RC simulator based on real flight tests • More simlations HIL with fuzzy controller – newly interfaced parameters

  5. Upcoming Tasks • GUI Programming • Neural Network • Tuning the RC helicopter model • Flight testing of Fuzzy controller

  6. BLOCK dIAGRAM 15% 15% 10%

  7. Current Schedule

  8. Some notes • NEED VIDEO OF LATEST TEST FLIGHT SO ICAN EMBED IN SLIDES.

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