Fuzzy Logic Attitude Control System for a Mini Helicopter Expanded Non Linear Mathematical Model

Abstract

Full nonlinear mathematical model for a mini helicopter is very complex, inflexible and has big influence on the designed control system performance. Analytical approach for autonomous helicopter modeling including both swash plate and mixer dynamics additional to miniature helicopter equations of motion is introduced. Attitude control system without linearization process is directly designed using fuzzy logic concepts, fuzzy controllers are implemented in both stability and command augmentation loops. Scaling factors are adjusted to minimize the error. The performance of control system for miniature helicopter expanded nonlinear model using fuzzy logic controllers is evaluated through simulation.