國立虎尾科技大學 |

Development of Fuzzy Inference System-Based Control Strategy for Various Autonomous Platforms.

紀錄類型:	書目-語言資料,手稿 : Monograph/item
正題名/作者:	Development of Fuzzy Inference System-Based Control Strategy for Various Autonomous Platforms./
作者:	Choi, Daegyun.
面頁冊數:	1 online resource (122 pages)
附註:	Source: Dissertations Abstracts International, Volume: 85-03, Section: B.
Contained By:	Dissertations Abstracts International85-03B.
標題:	Aerospace engineering. -
電子資源:	click for full text (PQDT)
ISBN:	9798380200523

Development of Fuzzy Inference System-Based Control Strategy for Various Autonomous Platforms.
Choi, Daegyun.

Development of Fuzzy Inference System-Based Control Strategy for Various Autonomous Platforms. - 1 online resource (122 pages)

Source: Dissertations Abstracts International, Volume: 85-03, Section: B.

Thesis (Ph.D.)--University of Cincinnati, 2023.

Includes bibliographical references

Conventional control approaches have been developed based on mathematical models of systems that contain multiple user-defined parameters, and it is time-consuming to determine such parameters. With advancements in computing power, artificial intelligence (AI) has been recently used to control autonomous systems. However, it is difficult for engineers to understand how the resulting output is obtained because most AI techniques are a black box without defining a mathematical model. On the other hand, a fuzzy inference system (FIS) is a preferable option because of its explainability. By adding learning capability to the FIS using a genetic algorithm (GA), the FIS can provide a near-optimal solution, which is known as a genetic fuzzy system (GFS). To exploit the advantages of the GFS, this work develops the FIS-based control approaches for diverse autonomous platforms, which include aerial, ground, and space platforms.For aerial platforms, this work develops a FIS-applied collision avoidance (CA) algorithm that can provide a near-optimal solution in terms of the travel distance of unmanned aerial vehicles (UAVs). After introducing a compact form of equations, which reduces the number of unknown parameters from 6 to 2, based on the enhanced potential field (EPF) approach, the proposed FIS models determine two unknowns, which are the magnitude of the avoidance maneuvers. The proposed models are trained to overcome the drawbacks of the artificial potential field (APF) while minimizing the travel distance of the UAVs, the trained FIS models are tested in a complex environment in the presence of multiple static and dynamic obstacles by increasing the number of UAVs in a given area. Numerical simulation results are presented for the training and testing results, including the comparison with the EPF.For ground platforms, this work proposes a decentralized multi-robot system (MRS) control approach to perform a collaborative object transportation with a near-optimal navigation solution in unstructured environment, like Martian surface, while maintaining the object's attitude stably. The proposed FIS models directly determine the vector heading to the target location and the vector avoiding the non-traversable area where the MRS cannot maintain the object's stable attitude. To validate the performance of the proposed models, the training results are compared with the path optimization results. Then, the results tested in an arbitrarily generated unstructured environment are illustrated for multiple scenarios.For space platforms, to support in-space servicing or space debris removal missions, this work designs a FIS-based controller for a chaser to approach a moving target, orbiting the Earth, in the rendezvous process while minimizing energy consumption. To consider practical situations, physical constraints, such as a thruster limitation, a keep-out zone surrounding the target, and a docking corridor, which is a safe zone, are employed in the formulations. The proposed FIS controller determines the force for approaching the target and the repelling force to ensure the chaser keeps inside the docking corridor. Although the proposed controller is trained with no disturbance condition, the Monte Carlo simulation results containing the disturbance are presented for several initial conditions.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2024

Mode of access: World Wide Web

ISBN: 9798380200523Subjects--Topical Terms:

686400
Aerospace engineering.
Subjects--Index Terms:

Intelligent controlIndex Terms--Genre/Form:

554714
Electronic books.

Development of Fuzzy Inference System-Based Control Strategy for Various Autonomous Platforms.
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