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Combining fuzzy and PID control for an unmanned helicopter
(IEEE Communications Society, 2005-01-01) Sanchez, E.N.; Becerra, H.M.; Velez, C.M.; Sanchez, E.N.; Becerra, H.M.; Velez, C.M.; Universidad EAFIT. Departamento de Ciencias; Modelado Matemático
This paper reports the synthesis of a controller for the X-Cell mini-helicopter. It is developed on basis of the most realistic mathematical model actually availble ([1]). A combined control structure is proposed: Mamdani controllers keep set points for an altitude/attitude controller. These controllers are designed in the simplest rule base. Altitude/attitude controller is constituted for conventional SISO PID controllers for z-position and roll, pitch and yaw angles. This control scheme mimics the action of an expert pilot. The proposed scheme is tested via simulations; it presents a good performance for hover flight, and control position in slow speed. © 2005 IEEE.