Adaptive Trajectory Linearization Control for a model-scaled helicopter with uncertain inertial parameters

An adaptive approach based on Trajectory Linearization Control (TLC) is introduced to achieve the trajectory tracking of model-scaled helicopter with constant or slow time-varying model uncertainties. In the procedure of the controller designing, estimated parameters are applied to compensate for the uncertain inertial parameters (such as the mass and the inertial matrix) of the helicopter. Stability of the adaptive control system is proved in both constant and time-varying cases. Performances of the closed-loop system are verified by simulation results.