Fuzzy Self-tuning PID Controller in the 3-DOF Helicopter Experimental System

A fuzzy self-tuning PID controller is designed for the 3 degree of freedom(3-DOF) helicopter,in order to control the flight altitude and flight speed of the system.The composition and mathematical model of the 3-DOF helicopter experimental system are introduced.The conventional PID controller based on LQR(linear quadratic regulator) and the fuzzy self-tuning PID controller based on fuzzy control theory are designed.Two methods are applied to controlling the flight altitude and flight speed of the helicopter in real-time.The experimental results show that the fuzzy self-tuning PID controller offers higher response speed,better stability and better robustness.