The full text of this article:

Design of an anti-overshoot Mamdani-type fuzzy-adaptive controller for yaw angle control of a model helicopter
by Morteza Mohammadzaheri, Ali Mirsepahi
International Journal of Intelligent Systems Technologies and Applications (IJISTA), Vol. 4, No. 3/4, 2008
Abstract: In this research, a fuzzy knowledge-base controller is designed for yaw control of model helicopter. At the next stage, an adjusting algorithm is presented to reduce the influence of high inertia on fuzzy controlled systems. Inertia may cause significant overshoot, which is undesirable and difficult to eliminate. In order to solve this problem, a simple algorithm is presented to reduce the control input by adjusting the fuzzy controller parameters while the system is getting close to the desired condition. Implementing this approach (including a lateral algorithm to reset the parameters in special conditions) for yaw angle control of a model helicopter reduces the overshoot and energy consumption considerably without significant decrease of the settling time.

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