Adaptive backstepping control scheme with integral action for quanser 2-dof helicopter

Abstract

This paper proposes an adaptive integral back-stepping control scheme for tracking control of 2-DOF (Degree of Freedom) helicopter. The helicopter is an important model from the control prospective due to its nonlinear behavior, highly cross coupling effects and instability in open loop. Classical control methods (PI, PD and PID Controllers) and baseline controllers with a linear quadratic regulator (LQR) are unable to handle parametric uncertainties and unmodeled dynamics. The key advantage of the proposed scheme is that it gives robustness to parameter uncertainties and unmodeled dynamics. An adaptive update can provide system robustness through estimation of parameters and model uncertainties. Simulation and Experimental results support the expected effectiveness of the proposed adaptive integral backstepping scheme for tracking as compared to the baseline controller (LQR) in presence of uncertainties.