Robust adaptive backstepping control for unmanned autonomous helicopter with flapping dynamics

摘要

In this paper, a robust adaptive backstepping control scheme is studied for attitude and altitude control of medium-scale unmanned autonomous helicopter (UAH) with flapping dynamics. A simplified UAH model is established and nonlinear disturbance observer (NDO) is designed to eliminate the effect of unknown external disturbance. The robust adaptive backstep-ping approach is employed to design the attitude and altitude controller for the outputs tracking the desired trajectory. The stability of the closed-loop system is proved via Lyapunov analysis and all closed-loop signals are uniformly ultimately bounded. Simulation results are presented to demonstrate the effectiveness of the developed control method.