A fuzzy adaptive controller design for integrated guidance and control of a nonlinear model helicopter

A fuzzy adaptive sliding mode controller is presented in this research and implemented on a nonlinear helicopter model. An integrated guidance and control for a model helicopter which is flying behind a floating platform is considered in order to stabilise dynamics and track path, simultaneously. A fuzzy logic is designed to adaptively choose the best control parameters for the sliding mode controller and relieve the designer's concern in choosing the parameter. A matrix consisted of fuzzy sliding mode parameters is used instead of a single parameter with the goal of enhancing controller tracking capability. The problem is simulated under different conditions and intense disturbances of an empirical model, while the performance is acceptable. Controller performance is compared, and a performance analysis is done on the selection of fuzzy membership functions using an optimisation method. Simulation results show the robustness, agility, stability and overall outperformance of the proposed controller.