A novel adaptive control scheme with model-based error compensation for a prototype unmanned helicopter

Abstract

This paper addresses the control problem of a prototype unmanned helicopter with novel configuration in the presence of parametric uncertainties and measurement noises. A novel adaptive control scheme with model-based error compensation is proposed, which can achieve satisfactory flight performance and eliminate the adverse effect of measurement noises on the convergence of adjustable parameters and the plant output. Moreover, the scheme provides a noise-free estimate of the plant output for accommodation of coupling features and parametric uncertainties. The near-ground flight test results illustrate the effectiveness of the proposed scheme. The new methodologies featured in this study are very effective control tools that can help bridge the gaps between adaptive control theory and practical applications in high-performance unmanned helicopters.