Anti-overshoot control of model helicopter's yaw angle with combination of fuzzy controller and fuzzy brake

Abstract

In this research, the fuzzy control of the yaw angle of a model helicopter is studied, particularly, in order to reduce the overshoot which can be a serious problem in high inertia systems. Initially, a Sugeno-type controller is designed. This controller provides quick convergence and keeps the control input in a permitted range .Moreover, a good stability is offered by this fuzzy controller. But, a significant and repeating overshoot is observed in controlled system behaviour that is not desirable. In order to solve this problem and improve the control system, another fuzzy inference system, namely "fuzzy brake", is added to the closed loop circuit. Fuzzy brake's task is to reduce the control input when the error is low. The proposed Sugeno-type fuzzy controller with brake (SFCB) not only vanishes the overshoot practically but also causes a considerable reduction in energy consumption, at the same time, SFCB improves the performance. ©2007 IEEE.