Fuzzy Logic Controller for a Mini Coaxial Indoor Helicopter

Authors:
George Limnaios;Nikos Tsourveloudis
Affiliations:
Intelligent Systems & Robotics Laboratory, Department of Production Engineering & Management, Technical University of Crete, Crete, Greece;Intelligent Systems & Robotics Laboratory, Department of Production Engineering & Management, Technical University of Crete, Crete, Greece
Venue:
Journal of Intelligent and Robotic Systems
Year:
2012

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Abstract

In this paper the design process of a fuzzy logic based controller for a coaxial micro helicopter is presented. The developed controller for altitude, attitude, and position control is tested through simulations on an identified non-linear model of the helicopter. The robustness properties of the controller to parameter variations of the model is assessed, as well as, its ability to accommodate or absorb external disturbances.