• Tri-Quang Le Hung Yen University of Technology and Education
  • Nguyen Thi Nhung Hung Yen University of Technology and Education
Keywords: Unmanned helicopter, flight controller, simulation, fuzzy logic, iterative control


This paper presents a comprehensive study on the design and simulation of an altitude tracking control system fo an unmanned helicopter. The primary objective of this research is to develop a flight controller that capable of precisely maintaining the helicopter’s desired altitude, enabling to perform various critical missions such as surveillance, search and rescue. A proposed method combined fuzzy logic control and iterative learning control, then verified by developed software-in-the-loop under ideal and turbulence environments encountered during flight.


M. Idrissi, M. Salami, and F. Annaz, “A review of quadrotor unmanned aerial vehicles: applications, architectural design and control algorithms,” Journal of Intelligent & Robotic Systems, 2022, vol. 104, no. 2, p. 22.

A. G. Melo, F. A. Andrade, I. P. Guedes, G. F. Carvalho, A. R. Zachi, and M. F. Pinto, “Fuzzy gain-scheduling PID for UAV position and altitude controllers,” Sensors, 2022, vol. 22, no. 6, p. 2173.

A. Surriani and M. Arrofiq, “Altitude control of quadrotor using fuzzy self tuning PID controller,” in 2017 5th International conference on Instrumentation, Control, and Automation (ICA), 2017, pp. 67-72: IEEE.

Z. A. Ali, D. Wang, S. Masroor, and M. S. Loya, “Attitude and altitude control of trirotor UAV by using adaptive hybrid controller,” Journal of Control Science and Engineering, 2016, vol. 2016.

I. Gonzalez-Hernandez, F. M. Palacios, S. S. Cruz, E. S. E. Quesada, and R. L. Leal, “Realtime altitude control for a quadrotor helicopter using a super-twisting controller based on high-order sliding mode observer,” International Journal of Advanced Robotic Systems, 2017, vol. 14, no. 1, p. 1729881416687113.

H. S. Khan and M. B. Kadri, “Attitude and altitude control of quadrotor by discrete PID control and non-linear model predictive control,” in 2015 International Conference on Information and Communication Technologies (ICICT), 2015, pp. 1-11: IEEE.

J. Dong and B. He, “Novel fuzzy PID-type iterative learning control for quadrotor UAV,” Sensors, 2018, vol. 19, no. 1, p. 24.

Z. Jin, L. Nie, D. Li, Z. Tu, and J. Xiang, “An autonomous control framework of unmanned helicopter operations for low-altitude flight in mountainous terrains,” Drones, 2022, vol. 6, no. 6, p. 150.

H. S. Paing, S. Anatolii, Z. M. Naing, and H. M. Htun, “Designing, Simulation and Control of Autopilot using PID Controller,” in 2021 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering (ElConRus), 2021, pp. 2672-2675: IEEE.

N. P. Nguyen, N. X. Mung, H. L. N. N. Thanh, T. T. Huynh, N. T. Lam, and S. K. Hong, “Adaptive sliding mode control for attitude and altitude system of a quadcopter UAV via neural network,” IEEE Access, 2021, vol. 9, pp. 40076-40085.

H. Bouadi, S. S. Cunha, A. Drouin, and F. Mora-Camino, “Adaptive sliding mode control for quadrotor attitude stabilization and altitude tracking,” in 2011 IEEE 12th international symposium on computational intelligence and informatics (CINTI), 2011, pp. 449-455: IEEE.

M. K. Samal, M. Garratt, H. Pota, and H. T. Sangani, “Model predictive attitude control of vario unmanned helicopter,” in IECON 2011-37th Annual Conference of the IEEE Industrial Electronics Society, 2011, pp. 622-627: IEEE.

M. Aliyari, W.-K. Wong, Y. Bouteraa, S. Najafinia, A. Fekih, and S. Mobayen, “Design and implementation of a constrained model predictive control approach for unmanned aerial vehicles,” IEEE Access, 2022, vol. 10, pp. 91750-91762.

J. Ye, S. Tang, L. Zhang, and H. Guo, “Fuzzy control of small-scale unmanned helicopter,” in 2013 25th Chinese Control and Decision Conference (CCDC), 2013, pp. 3040-3045: IEEE.

X. Wang, X. Wang, and C. Yao, “Design of hovering altitude holding control system for helicopter,” in 2012 IEEE International Conference on Information and Automation, 2012, pp. 180-183: IEEE.

Y. Shang and T. Lu, “Optimal tracking control of mini unmanned helicopter based iterative approximating,” in 2019 IEEE 3rd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC), 2019, pp. 81-87: IEEE.

I. A. Raptis and K. P. Valavanis, Linear and nonlinear control of small-scale unmanned helicopters, Springer Science & Business Media, 2010.

S. I. Abdelmaksoud, M. Mailah, and A. M. Abdallah, “Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review,” IEEE Access, 2020, vol. 8, pp. 195142-195169.

How to Cite
Tri-Quang Le, & Nguyen Thi Nhung. (2023). ALTITUDE TRACKING CONTROL OF AN UNMANNED HELICOPTER. UTEHY Journal of Science and Technology, 39, 71-77. Retrieved from