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Design of a bio-inspired controller for dynamic soaring in a simulated uav

Renaud Barate 1 Stephane Doncieux 1 Jean-Arcady Meyer 1
1 Animatlab
LIP6 - Laboratoire d'Informatique de Paris 6
Abstract : This paper is inspired by the way birds such as albatrosses are able to exploit wind gradients at the surface of the ocean for staying aloft for very long periods while minimizing their energy expenditure. The corresponding behaviour has been partially reproduced here via a set of Takagi–Sugeno–Kang fuzzy rules controlling a simulated glider. First, the rules were hand-designed. Then, they were optimized with an evolutionary algorithm that improved their efficiency at coping with challenging conditions. Finally, the robustness properties of the controller generated were assessed with a view to its applicability to a real platform.
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Renaud Barate, Stephane Doncieux, Jean-Arcady Meyer. Design of a bio-inspired controller for dynamic soaring in a simulated uav. Bioinspiration and Biomimetics, IOP Publishing, 2006, 1 (3), pp.76-88. ⟨10.1088/1748-3182/1/3/002⟩. ⟨hal-02986348⟩

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