Fuzzy control of small-scale unmanned helicopter

In this paper, the flight characteristic of small scaled unmanned helicopter is analyzed. Based on expert knowledge and the experience of pilot, fuzzy rules for attitude control, altitude control and position control are established. Then, the inner-loop attitude controller is designed to control the roll, pitch and yaw angles. Based on the attitude controller, the fuzzy controllers for altitude control, latitude and longitude position control are designed. At last, visual flight simulation environment is constructed and simulations are conducted to verify the feasibility of the proposed controllers. It is shown that the fuzzy controllers lay out good capability for hover flight.