Robust Tracking Control for the Yaw Control of Helicopter with Time-varying Uncertainty

This paper deals with the problem of robust tracking control with adaptation mechanism. A linear time-invariant system with time-varying ellipsoidal uncertainty is considered. The proposed controller affinely depends on the estimations of parameters, which are adjusted on-line according to the error between the state trajectory of the plant and that of target model. The application of this approach to the yaw control of a small-scale helicopter mounted on an experiment platform shows the effectiveness.