Supervising Control for Unmanned Aerial Vehicles

Table 4

Rule set for fuzzy controller.

Output	Error rate
	NL	NM	NS	Zero	PS	PM	PL
Error
NL	PL	PL	PL	PL	PM	PS	Z
NM	PL	PL	PL	PM	PS	Z	NS
NS	PL	PL	PM	PS	Z	NS	NM
Zero	PL	PM	PS	Z	NS	NM	NL
PS	PM	PS	Z	NS	NM	NL	NL
PM	PS	Z	NS	NM	NL	NL	NL
PL	Z	NS	NM	NL	NL	NL	NL

NL: neg large; NM: neg medium; NS: neg small; PL: pos large; PM: pos medium; PS: pos small.