Fuzzy supervised roll axis controller for a hovering system

Vertical take off and landing aircrafts have been the subject of research for many years. The Boeing CV-22 Osprey is one such aircraft. Takeoff and landing phases of these aircrafts create very challenging control problems. Having two massive engines at the wingtips of the airplane creates an inherently unstable system. Added to this challenge is an inherent delay in pilot demand for engine thrust changes. In this paper we will present an intelligent fuzzy supervisory agent that monitors and modifies the gain scheduled controllers at high roll angles. This fuzzy agent modifies the thrust level and the controller parameters. To model the roll axis behavior of such aerial vehicles two electric motors with propellers are mounted at the end of a beam with an almost frictionless pivoting point at the center. A classical Gain scheduled PID controller is used as the primary controller for this system.