An On-line Adaptive Fuzzy Control System (AFCS) For The Attitude Control Of A Small Unmanned Helicopter

摘要

An on-line adaptive fuzzy control system (AFCS) is designed in this paper, in a way that does not depend on a process model of the plant or its approximation in the form of a Jacobian matrix. Neither is it necessary to know the desired response at each instant of time. AFCS implement a simultaneous on-line tuning of fuzzy rules and output scale of fuzzy control system. This paper designs the two cascade controller design with an inner (attitude controller) and outer controller (navigation controller) of the small unmanned helicopter. At last, an attitude controller based on AFCS is implemented ant it is testified by the flight experiment.