A nonlinear robust control design combined with neural network for a 3 degree of freedom (DOF) helicopter

In this paper, we proposed a nonlinear robust control design combined with neural network for a 3 degree of freedom (DOF) helicopter test-bed which may be subjected to unknown external disturbance and contains structure uncertainties. Regulation and tracking control design are proposed for the angles of elevation, pitch and travel axes. Numerical simulation results are provided to illustrate that the proposed controllers achieve good performance and the closed loop systems obtain good robustness with respect to system uncertainties and disturbances.