Adaptive Control for the Twin Rotor Helicopter with Actuator Faults

Abstract

For the linear time-invariant model of a twin-rotor helicopter, a new control scheme is proposed in the presence of actuator faults, environmental disturbances and modeling errors. Using the Lyapunov stability theorem, the system with proposed adaptive controller is proved to be stable, and the tracking error tends to zero asymptotically. Simulation results prove the effectiveness of this method.