Velocity Control of Unmanned Helicopter Based on Fuzzy-PID

The fuzzy-PID control approach was used on the velocity control of the unmanned helicopter.Furthermore, a novel parameter self-tuning method was presented that the parameters of the PID controller were self-tuned based on the parameters of the last control period according to the deviation and its variation ratio, adequately considering the control information of the last control period.The increments of the PID parameters were calculated by the fuzzy inference system.Matlab simulation and the hardware-in-loop simulation were performed, the simulation results verified the feasibility and the effectiveness.