Intelligent Auto Pilot Design For A Nonlinear Model of An Autonomous Helicopter By Adaptive Emotional Approach

There is a growing interest in the modeling and control of model helicopters using nonlinear dynamic models and nonlinear control. application of a new intelligent control approach called brain emotional learning based intelligent controller (belbic) to design of autopilot for an autonomous helicopter is addressed in this paper. this controller is applied to a nonlinear model of a helicopter. this methodology has been previously proved to present robust characteristics against disturbances and uncertainties existing in the system. the simulation results of this controller arecompared with a pid controller. the policies for pid and belbic controller are the same. the controller design goal is that the helicopter tracks a special maneuver to reach the commanded height and heading. the performance of the controllers is also evaluated for robustness against perturbations with inserting a high frequency disturbance. simulation results show a desirable performance in both tracking and improved control signal by using belbic controller.