Autonomous Helicopter Control Using Linguistic and Model-Based Fuzzy Control

T h e work reported in this paper i s aimed a t designing a horizontal velocity controller f o r the unmanned helicopter A P I D MK-111 by Scandicraft AB in Sweden. T h e controller is able of regulating high horizontal velocities via stabilizat ion of the attitude angles within m u c h larger ranges than currently available. W e use a novel approach t o the design consisting of two steps: first, a Mamdani-type of a f i z z y rules are used t o compute f o r each desired horizontal velocity the corresponding desired values f o r the attitude angles and the m a i n rotor collective pitch; second, using a nonlinear model of the altitude and attitude dynamics, a Takagi-Sugeno controller i s used t o regulate the attitude angles so that the helicopter achieves its desired horizontal velocities at a desired altitude. According t o our knowledge this i s the f irst t i m e when a combination of linguistic and model-based f u z z y control i s used for the control of a complicated plant such as a n autonomous helicopter. T h e performance of the combined linguistic/model-based controllers i s evaluated in simulation and shows that the proposed design method achieves i ts intended purpose. Accepted for presentation at the loth IEEE International Conference o n Control Applications (CCA/ISIC), 5-7 September, 2001, Mexico-city.