Abstract

This paper proposes the attitude tracking controller design scheme for the 3-DOF helicopter with unknown model uncertainties and external disturbances by combining command filter with neural network techniques. On the basis of backstepping design method, the unknown model uncertainties and external disturbances are firstly reconstructed by adopting command filter. Then, neural network technique is used to approximate the reconstructed model uncertainties and external disturbances to realize the attitude tracking control of the 3-DOF helicopter. Finally, the stability of the closed-loop tracking control system of the 3-DOF helicopter is verified by Lyapunov stability theory. Simulation results verify the effectiveness of the proposed method.

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