Adaptive control for a radio‐controlled helicopter in a vertical flying stand

Abstract

AbstractIn this paper, we focus on the design and implementation of a controller for a two degree‐of‐freedom system. This system is composed of a small‐scale helicopter which is mounted on a vertical platform. The model is based on Lagrangian formulation and the controller is obtained by classical pole‐placement techniques for the yaw dynamics and adaptive pole‐placement for the altitude dynamics. Experimental results show the performance of such a controller. Copyright © 2004 John Wiley & Sons, Ltd.