Tracking Control of a Twin-Rotor Helicopter Model with Actuator Constraints

Abstract

In this paper, we design a flight controller for a twin-rotor helicopter model with actuator constraints. The controller is composed of the state dependent gain-scheduled feedback control law and the reference management device which are adjusted optimally by on-line computation. We show that the control system with the proposed control law achieves higher tracking performance as compared to the system with the standard constant feedback control law through experimental results.