Flight control based on a fuzzy logic developed by M. Sugeno at Tokyo Institute of Technology
~ controller is based on fuzzy logic and is installed in a 16bit microprocessor with fuzzy inference engine built by Omron
~ helicopter used in Sugeno's experiments is a Yamaha R-50, about 3.5meters long with a 90kg payload and a 98cc engine
~ most interesting aspect of system is its hierarchical structure
~ at top level is a navigator system which receives operator's
~ instructions (hover, land, etc.) along with present flight states of
~ helicopter from sensors. navigator provides as output both
~ trim information (an equilibrium position of helicopter's attitude)
~ and desired values of control inputs. Both sets of information
~ are input to lower level, stabilizer level, which is a
~ servo system with trim as its reference signal. stabilizer
~ consists of blocks corresponding to its flight modes, e.g., a sideways
~ flight block, forward flight block, hover flight block, etc. Each block
~ consists of four modules corresponding to four control inputs (elevator, aileron, rudder, and throttle)
~ this kind of hierarchical and modular structure simplifies acquisition of control rules as well as controller design