Abstract
The work describes an automatically on-line Self-Tunable Fuzzy Inference System (STFIS) of a mini-flying called XSF drone. A Fuzzy controller based on an on-line optimization of a zero order Takagi-Sugeno fuzzy inference system (FIS) by a back propagation-like algorithm is successfully applied. It is used to minimize a cost function that is made up of a quadratic error term and a weight decay term that prevents an excessive growth of parameters. Simulation results and a comparison with a Static Feedback Linearization controller (SFL) are presented and discussed. A path-like flying road, described as straight-lines with rounded corners permits to prove the effectiveness of the proposed control law.