Adaptive dynamic attitude tracking controller design with dual-model structure for unmanned helicopter

Attitude tracking control problem for unmanned helicopter (UH) is investigated in this paper. Considering the influence of model uncertainties and external disturbances, a strong adaptive attitude tracking controller is proposed. To reduce attitude tracking error and acquire expected flying qualities, the controller adopts a dual-model structure, which simplifies design of the control law by separating model tracking parameters design from adaptive control. In addition, the convergence rate of adaptive parameters is accelerated obviously as a result of introducing a linear compensator, and the effect of sensor noise on adaptive parameters adjustment is reduced effectively by a state filter. Numerical simulations illustrate the effectiveness and feasibility of this attitude control.