Adaptive Backstepping Control of 2-DOF Helicopter System Under Parametric Uncertainty

The work presented in this paper is based on the design of adaptive backstepping control for a class of systems under parametric uncertainty. It considers 2-Degrees-Of-Freedom (2-DOF) helicopter system which is Multi-Input Multi-Output (MIMO) system with non-linearities, uncertainties and coupled dynamics. The uncertain parameters are estimated by using adaptive laws. The estimated parameters are used in the design of the control law. The resulting closed-loop system with the designed control law is robust with respect to the uncertain parameters of the system. The stability of the system is proved theoretically. Simulation and experimental results illustrate the effectiveness of the proposed technique.