Trajectory tracking control of a small unmanned helicopter based on fuzzy CMAC-PID

The unmanned helicopter is a typical nonlinear and strongly coupled system, which is difficult to be modeled and controlled. The research of the trajectory tracking control of an small unmanned helicopter is of great theoretical significance and practical utility. In the paper, we present a control method combining inner-loop and outer-loop controllers. The inner-loop controller adopts the attitude control of CMAC-PID. CMAC is regarded as a feed-forward compensation controller, which can train the control parameters of PID assuring the control precision of attitude controller. The outer-loop controller adopts fuzzy control, with the fuzzy variables being the position error and velocity error of unmanned helicopter. The integrated control system is to achieve the trajectory tracking. Finally, the simulation results on the airplane Align-700 model demonstrate the performance of the method which has been put forward in the paper.