STATUS REPORT #1UAV - ADAPTABLE FUZZY

LOGIC CONTROLLER

Team #9

Julian Jaramillo

Craig Cobabe

Edward Robinson

Chris Pitts

Sep 15, 2012

Create a fuzzy logic controller that utilizes a neural network to control a

wide range of aerial vehicles.

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

Re-built the T-Rex 450

Re-structured Fuzzy library Created rule classes

Interfaced control parameters to GCS

TASKS COMPLETED Flew the T-Rex 450 and Raptor 90 with

out of the box configuration Successfully simulated fuzzy control

over pitch via HIL Flew with stock Arducopter

Crashed T-Rex 450 Rebuilt T-Rex 450 Interfaced parameters through mavlink Compiled example code utilizing CUDA

NN Libs Flight test after rebuild

ONGOING/PENDING TASKSOngoing 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 Real Flight test of fuzzy controller

UPCOMING TASKS Tune Model

Begin Fuzzy Controller design

Website – Due 10/12

Invention Disclosure Document – Due 9/28

10%

15%

15%BLOCK DIAGRAM

CURRENT SCHEDULE

SOME NOTES Arducopter – 22,832 lines of code

Doesn’t include the guiAdding code slow and tedious

Ardiuno IDE doesn’t cut itVisualmicro plug in!