IJRE - International Journal of Research in Electronics ISSN: 2349-252X

A Study on Application of Fuzzy Logic Concept in

Autonomous Landing of UAVs
K.Samuel | Karthikeyan L M
1
(Department of Avionics Engineering, Noorul Islam University, Tamilnadu, India)
2
(Department of Aeronautical Engineering, Techno Global University, India)
___________________________________________________________________________________________________

Abstract Landing of an UAV is a most complicated and important operation for autonomous flight operations. Most of the UAVs
are operate with external pilots. Nowadays it is essential to design the advance automatic landing control systems to reduce the work
load of external pilots in the landing process of UAVs. In this paper various auto rectification landing systems using fuzzy logic has
studied and discussed. They are mostly used for integration with classical landing controllers to obtain accurate and safe landing of
UAVs.

Keywordscontroller; fuzzy; landing; UAV

______________________________________________________________________________________________________________

1. INTRODUCTION traditional operations. In Sugeno- inference between

weighted average or weighted sum can choose.
Fuzzy logic is a mathematical system, which analyses
the analog values in terms of logical values like zero and Fuzzy logic is based on ordinary verbal
one or true / false respectively. This system is an communications and the major advantages of fuzzy logic
alternative design method for linear and nonlinear systems are
for control operations. It is widely used in control of
machinery operations. The controllers using fuzzy logic More flexibility
consist of input, processing and output stages in operation. Easy to understand
The input data can collect from machinery components like High tolerance with imprecise data
switches and sensors. In the processing stages, the
presetting rules will generate the results for each operation. 2. FUZZY LOGIC CONCEPT IN LANDING APPLICATION
The output results can obtain from the processing data in The basic idea of fuzzy logic integration for landing
specific control output value. All the input values are application has shown in fig. 1. P. Riseborough [2] has
mapped by sets of membership functions known as fuzzy reviewed the design of control system for autonomous
sets. UAVs. The fuzzy controller can obtain the input parameters
from the classical landing controllers. These parameters are
The basic fuzzy control system design consists of the corrected for the smooth landing process for UAVs. But
following processes. these systems also can used in so many others ways.
Documentation of systems inputs, outputs and Olivares-Mndez.M.A, Mondragn.I.F, Campoy.P and
operational specifications Martnez.C [3] present an application of Fuzzy Controllers
Fuzzy sets documentation for inputs for UAV landing using the 3D-position estimation. Here the
Rule set documentation visual tracking technique of piecewise objects has used. The
Finding out suitable defuzzification methods visual information has analyzed by fuzzy controller to
Testing and adjusting of suitability with valid generate the commands to develop the landing task. Omer
system Cetin, Sefer Kurnaz and Okyay Kaynak [4] has proposed an
autonomous flight and landing controller system based on
Completion of documentation and production
fuzzy logic. The performance of that controller has
release
evaluated by MATLAB and Aerosim block set. Timothy J.
In 1964, Lotfi A.Zadeh has created the idea of fuzzy Ross [5] has proposed a simple logical method for find out
set [1]. A fuzzy reasoning system can design with the help the profile of landing approach for HTOL (horizontal take-
of fuzzy set operations. This system can act as a fuzzy off and landing) aircraft or UAV as shown in fig.2. The
controller. The computational mechanism of Mamdani type profile can obtain with the parameters of downward
controller can proceed in following steps. velocity with height from the classical controllers for
analyze using fuzzy logic concept.
Fuzzification
Degree of fulfillment
Implication
Aggregation
Defuzzification
In Mamdani inference, centroid, bisector, middle of
maximum (MOM), smallest of maximum (SOM), largest
of maximum (LOM) or custom can choose for the Fig.1. Basic idea of fuzzy logic integration for landing application

IJRE - International Journal of Research in Electronics

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 IJRE - International Journal of Research in Electronics ISSN: 2349-252X

Fig. 2. Desired final approach path

During landing, if altitude decreases, the downward

velocity also decreases. In certain limit, the downward
Fig. 3. Determination of landing path
velocity becomes vanishingly with altitude. In this way, the
UAV can descend gently by avoiding damages. Here the In case of vertical velocity, height changes with respect to
state variables used are altitude (h) and downward velocity time. So that the formulae for vertical velocity (v) as given
(v). The applied force to control the altitude and velocity is below.
the control output. The general differential equations has
desired from the below concept. v = dh / dt (6)
a = dv/dt (1) If time interval (dt) is one second, then
Where a is acceleration v = dh. Or in other form,
v is velocity
We know that from Newtons law, f = ma, So vi = hi+1 - hi

dv = (f/m) dt (2) We can say

Where f is force hi+1 = hi + vi (7)

m is mass
Where hi+1 is new height
In the fig. 3, the moving mass (m) in velocity (v) has the hi is the old height
momentum (p = mv). The mass will move in the same
direction if no external forces are applied. To change the The control equations (4) and (7) define the new
velocity of dv in a time interval dt, a force (f) can applied. variables of v and h with respect to the control inputs and
So, the previous variables. In the fig. 4 surface graph has
obtained by putting the values for i = 0,1,2,.
dv = F= (fxdt)/m (3)
or The table 1 shows the summary of four-cycle
vi+1 - vi = Fi simulation results. This concept used for obtain the 2D
We can say profile using less parameters. But fuzzy systems also used
for obtaining profiles for studying the stability of UAVs in
vi+1 = vi + Fi (4) other maneuverings like rolling and yawing also. Jon
C.Ervin and Sema E.Alptekin [6] have analyzed the
Where vi+1 is new velocity effective use of fuzzy logic system in aircraft stability
vi is old velocity augmentation. The fuzzy systems can used for designing
longitudinal, lateral and vertical controllers separately and
In one second of time interval, the change of velocity of also with integration methods.
mass of one lb-sec2/ft is f lb. So we can say, the velocity
change is directly proportional to applied force (f). We
know that,
Velocity (V) = ds/dt (5)
Where s is distance
TABLE I. SUMMARY OF FOUR-CYCLE SIMULATION RESULTS
(SOURCE: TIMOTHY J.ROSS [5])

Cycle 0 Cycle 1 Cycle 2 Cycle 3 Cycle 4

Height (ft) 1000.0 980.0 965.8 951.1 936.0

Velocity (ft/s) -20.0 -14.2 -14.7 -15.1 -14.8

5.8 0.5 -0.4 0.3 - Fig. 4. Obtained landing profile using fuzzy logic.
Control force (Source: Timothy J. Ross [5])

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 IJRE - International Journal of Research in Electronics ISSN: 2349-252X

Fig. 5. Landing controller design of NASAs HL 20.

(source: mathworks [10])

Tan [7] has explained the integration of longitudinal To achieve the intelligent control, an onboard fuzzy
and lateral controllers using NEM (Nonlinear Energy controller has installed in that helicopter and it can control
Method) for a specific aircraft. Fariborz Saghafi, Soha from ground by giving verbal commands.
Pouya and S.M.Khansari Zadeh [8] has developed a fuzzy
3. CONCLUSION
controller for auto landing of a fixed wing UAV with
vision systems. A perfect landing controller for UAVs has not yet
designed successfully. The major reasons for this drawback
This study has focused the fuzzy logic concept only are cross wind effects, balance of center of gravity, facing
for auto landing. But the application of fuzzy logic has the reaction forces in land during landing especially in
most extended for other flight phases like takeoff, touch down points in the landing areas. The vision based
climbing, cruising and descending also. Dniel Stojcsics approach, fuzzy logic and neural network has using more
[9] has examined the successful application of fuzzy effectively for design the landing controllers to solve these
controller for takeoff, cruise and landing for an UAVs. The problems. Fuzzy logic reasoning systems are the
simulation done by his work has indicates the results as mathematical approaches used with classical controllers
same as in the original flight environments. and having more advantages with fault tolerant designing
The major application of fuzzy logic in Aerospace like less weight and reliability. The continuous effect has
landing application is NASAs (National Aeronautics and carried all over the world by design a successful landing
Space Administration) jet trainer for space shuttle controller for various types of UAVs. This study is very
operation. Fig. 5 shows the classical landing controller useful for gathering more ideas for advance landing
design of NASAs HL20 space launching system. controller designing purpose.
Kimberly Bickraj, Thierry Pamphile, Aylin Yenilmez and
Ming Li Ibrahim N. Tansel [11] have reviewed the
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