PSO to design decentralized fuzzy PI controllers application for a helicopter

In this paper, we propose the use of a Particle Swarm Optimization (PSO) for tuning decentralized typical fuzzy PI (FPI) controllers applied for the stabilization of a helicopter model. The method is used such as to minimize a square error (SE) fitness function which quantifies the performance of the whole control system. The proposed PSO method exploits all the available knowledge about the system under control since, the considered typical FPI controllers are characterized by simple and interpretable structure, which can reduces the tuning time.