The application of self-organising fuzzy control to station-keeping in unmanned air vehicles

We report on part of a larger study examining the applicability of fuzzy logic to the higher level supervisory control functions of unmanned air vehicles and details the work so far in testing the feasibility of a candidate self-organising scheme. The candidate algorithm consists of a regular fuzzy control system whose rule set is improved over time as a function of the deviation of the plant from some desired performance. Historically, virtually all work in this area has examined the application of the algorithm to the classic regulator problem, and focussed on achieving both better performance in that role and establishing tuning guidelines based on a more systematic approach. The application is assessing the algorithm to ascertain its possible utility in the higher level supervisory capacities. The candidate control problem was one of station-keeping of one air vehicle behind another