A Implementation of a Direct Fuzzy Controller Applied to a Helicopter with one Degree of Freedom

Abstract

Conventional PID controllers are used in linear processes, showing an appropriate performance and simple tuning methods, however, in non-linear processes with changes in the set-point their response is degraded. In recent decades, the use of fuzzy controllers has increased, due its non-linear behavior and an accurate model of the process is not required. In this document, a new model-based tuning methodology is implemented, which has only been tested in a simulation environment and consists in the calculation of the scale factors of the controller from the parameters of the dynamic response of the system. The tuning method was applied to a one degree of freedom helicopter through a direct fuzzy controller. The platform implemented was tested against changes in the set-point and rejection of disturbances. The performance of controllers was measured through the ITAE and IAE performance indexes. The results of implementation and tests shown a better performance of the fuzzy controller regarding the conventional PID controller without complex computational intelligence algorithms or extensive trial and error methods for tuning.