Trajectory Tracking of a 2-DOF Helicopter System Using Canonical Normal Form

Abstract

This paper deals with canonical normal form approach for trajectory tracking control of a two degree-of-freedom helicopter system. The main objective is to stabilize beam of the helicopter with respect to pitch and yaw angles. Sufficient geometrical conditions are given for a class of nonlinear dynamical systems to transform the studied nonlinear systems into a triangular normal form and determine the flat outputs. Using this form two controllers are designed to control the position of the yaw and the pitch angles of the Helicopter. Simulation results are given to illustrate the effectiveness of the proposed control scheme.