Hybrid PID velocity control for an unmanned helicopter based on single neuron

The miniature unmanned helicopter exhibits a complex and nonlinear dynamic behavior, open- loop unstable and a high degree of inter-axis coupling. This paper describes a hybrid PID velocity control method based on single neuron for an unmanned helicopter. This method possesses both the simple structure of PID controller, and adjusting papameters on-line by intelligent technique. The application results of an unmanned helicopter show that the proposed controller can have helicopter achieve stable attitude in hover and improve the stability of the attitude control system. And the fine robustness for imprecise helicopter model is accounted for.