Adaptive Robust Guaranteed Cost Control with Application to Yaw Control of Helicopter

This paper deals with the problem of robust tracking control with adaptation mechanism to improve transient performance in time-response. 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.