DESIGN NEUROFUZZY WITH PID CONTROLLERS FOR AN AUTONOMOUS MINI-HELICOPTER SYSTEM
Pages: 58 - 68
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Participants:
Ammar A. Aldair |
Summary:
In this paper, combining Neuro-fuzzy and PID controllers have been employed for controlling the positions and rotational motions of the mini-helicopter system. Due to the strong coupling between the state variables of the mini-helicopter model, therefore, it is not suitable to design a single controller for regulating the positions and rotational motions of the given model. To solve this problem, three neuro-fuzzy controllers are designed for the lateral, longitudinal, and heave motion; and three classical PID controllers are proposed for attitude control. Nine rules are suggested for each neuro-fuzzy network depends on the previous knowledge/experiences of an expert human pilots. The simulation results show that the proposed controllers are very effective to control the hovering, position, and forward flight of the mini-helicopter system.