A PID based approximation-free controller with prescribed performance function for model helicopter attitude control

In this paper, a prescribed performance function (PPF) is combined with the PID control, and a novel control scheme for helicopter attitude control is proposed, which is subject to the nonlinear dynamics and disturbances. On the basis of classical PID control, the proposed control scheme retains the advantages of simple PID control algorithm. At the same time, by introducing the preset performance function, we can design the transient process of control more accurately. Therefore, our controller can not only satisfy the required performance constraints, but also have a simple parameter tuning process. The complex function approximation or modeling accurately which are widely used in nonlinear control at present is not necessary. The proposed control scheme is a simple and effective function approximation-free nonlinear controller, which effectively reduces the complexity of control system design on the premise of guaranteeing performance. Finally, the simulation results verify the effectiveness of the proposed control system.