Chaiyong Lamprom creator Lertsak Lekawat Chairperson Manukid Parnichkun Examination Committee Chumnarn Punyasai Examination committee Thailand Graduate of Science and Technology(TGIST) Scholarship Donor National Science and Technology; Development Agency (NSTDA) Scholarship Donor text series technical report th Bangkok Asian Institute of Technology 2002 continuing eng 115 p. The paper illustrated Field Programmable Gate Arrays ( FPGA) based adaptive proportional Derivative controller for a flying robot. The Kalt 30 Baron nonlinear Helicopter model is used as a mobile platform in which Xilinx xc4062xla will be used as a controller system. A digital compass tcm2-50 was used to measure the heading direction. This thesis study presents the adaptive fuzzy TSK controller by control output error method ( COEM ) and its implementation to hardware controller. The system is partially autonomous because only a heading direction is designed . The lateral and floating height of the flying robot is manually by cyclic controlled by a human pilot . However it is only an approach of control scheme that it needs to be redesign for pitch, roll and floating height. thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies Thesis (M.Eng.) - Asian Institute of Technology, 2002 Field programmable gate arrays Robots Control systems Fuzzy systems Asian Institute of Technology. http://203.159.5.9/ait-thesis/detail.php?q=B07339 http://203.159.5.9/ait-thesis/detail.php?q=B07339 030829 20260818114427.0