2017 Volume 30 Issue 10 Pages 379-385
This paper deals with a design method of an adaptive control system for a twin-rotor helicopter. The almost strictly positive real (ASPR) based adaptive output feedback control has attracted a great deal of interest as a robust control system with simple structure. Unfortunately, however, the twin-rotor helicopter does not satisfy the ASPR conditions and also it has a nonlinearity. In this paper, adaptive parallel feedforward compensator (PFC) is adopted to overcome this problem, and adaptive control system will be configured. Also, the usefulness of the control system will be confirmed through a numerical simulation.