Attitude control of helicopter simulator using neural network based PID controller

In this paper, a neural network based PID technique for attitude control of helicopter simulator with dynamic nonlinearities is introduces. For the purpose of this paper, we first derived a dynamic torque equation of a given simulator from the Lagrangian equation and force balance equation. Then the neural network based PID controller was designed on the MATLAB Simulink in order to control rapidly and accurately at the desired elevation angle and azimuth. The PID gains are automatically adjusted by the error backpropagation learning algorithm of a simple structured neural network. Simulation results confirm the effectiveness of the control method.