Attitude Control of a Single Tilt Tri-Rotor UAV System: Dynamic Modeling and Each Channel's Nonlinear Controllers Design

Table 2

Rule table of fuzzy logic controllers.

CI	𝑒(𝑡)
	NB	NM	NS	Z	PS	PM	PB
𝑑𝑒(𝑡)
PB	Z	PS	PM	PB	PB	PB	PB
PM	NS	Z	PS	PM	PB	PB	PB
PS	NM	NS	Z	PS	PM	PB	PB
Z	NB	NM	NS	Z	PS	PM	PB
NS	NB	NB	NM	NS	Z	PS	PM
NM	NB	NB	NB	NM	NS	Z	PS
NB	NB	NB	NB	NB	NM	NS	Z