2021-04-122005-01-0110987789WOS;000234636800045SCOPUS;2-s2.0-33744998937http://hdl.handle.net/10784/27891This 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.engIEEE Communications Societyinfo:eu-repo/semantics/conferencePaperComputer simulationFuzzy controlFuzzy setsHelicoptersProportional control systemsControl positionPID controlSet pointsUnmanned helicopterUnmanned vehicles2021-04-12Sanchez, E.N.Becerra, H.M.Velez, C.M.10.1109/NAFIPS.2005.1548540