Robust Adaptive Backstepping Controller for Altitude Control of a Small Scale Helicopter by Considering the Ground Effect Compensation

Tushar K. Roy
2013 Universal Journal of Control and Automation  
In this paper, I focus on the design and implementation of a controller for a two degree-of-freedom system. A nonlinear robust adaptive control technique is proposed to control the altitude of a small-scale helicopter for hovering as well as vertically take-off/landing near the ground surface in the presence of strong horizontal wind gusts. In order to stabilize the vertical dynamics of the small-scale helicopter, a recursive (backstepping) design procedure is used to design the robust adaptive
more » ... the robust adaptive controller based on Lyapunov approach. Simulation results demonstrate that the proposed robust adaptive backstepping controller is capable of controlling the altitude for hovering flight of a small-scale helicopter near ground surface in the presence of strong horizontal wind gusts.
doi:10.13189/ujca.2013.010205 fatcat:j2ifri2uxbcc3pwi6hqhkjslze