Fuzzy self-tuning PID controller for an unmanned helicopter

摘要

A fuzzy self-tuning PID controller is proposed for the path following of an unmanned helicopter. Generally, helicopter control system contains two control loops; the inner loop is an attitude controller and the outer loop is a path following controller. This paper adopts conventional PID controller to control attitude whilst fuzzy self-tuning PID controller to achieve the goal of path following. Moreover, the latter is the focus of this paper. The fuzzy self-tuning PID controller works as follows. When deviations from desired trajectory emerge and change over time, fuzzy controller will tune the parameters of PID controller accordingly. Furthermore, the navigation algorithm for the great circle flight path on the earth surface is designed. Finally, the simulation results of tracking a desired great circle flight path demonstrate the performance of the controller.