Hybrid fuzzy-PID control and modeling of coaxial rotor helicopter

摘要

In this paper, the hybrid fuzzy-PID controller for a coaxial rotor helicopter is developed as a supplement to the conventional PID controller. The coaxial rotor helicopter uses one motor and two swash plates linked to each other. The helicopter system is modeled by nonlinear dynamics. The PID control system works well with a moderate velocity change. However, it provides unsatisfactory performance with a large velocity change. The fuzzy-PID controller is applied to improve the system behavior. Simulation results are given to show the effectiveness of the fuzzy-PID controller for the nonlinear model.