Position control of a small helicopter using robust backstepping

In this paper, a robust control strategy applied on a small helicopter is proposed. An approximate small-scale helicopter model with decoupled dynamics is adopted for the controller design which uses the backstepping method based on the Lyapunov function. The Lyapunov function is used to show the robustness of the proposed control method under conditions of wind gusts. Finally simulation results, which show the effectiveness of the proposed controller and its ability to cope with external wind gusts on a plant model, are presented.