Hierarchical tuning of a fuzzy pitch controller for an unstable airframe

In this paper we demonstrate the use of approximate dynamic programming for the design of a pitch control system for an unstable aircraft using a "hierarchical" tuning approach. The aircraft model is based on an experimental "wave ride" design. We consider the full nonlinear longitudinal model and design a pitch controller for low speed, low altitude flight. Given the unstable, nonlinear nature of our plant, key elements of our implementation are the manner in which we provide "learning experience" for our controller, and the way we target different controller parameters at different points in the tuning process