Design of an Optimal Fuzzy Controller for Hover mode of Finite Degree of Freedom Unmanned Helicopter

Abstract

A helicopter has nonlinear dynamics and it’s a multivariable system. A helicopter is an unstable plant with high level of interaction between some of its variables. Therefore, controlling a helicopter is very difficult and to control it we must use special strategies. A fuzzy controller is a kind of nonlinear controller. It can control a plant without a mathematical model or a poor model. In this paper, we designed a fuzzy controller for an unmanned helicopter with finite degree of freedom. The fuzzy controller is designed based on optimal controller strategies. The proposed method has a better performance than state feedback optimal controller.

Keywords

• Twin rotor helicopter
• fuzzy controller
• state feedback optimal controller