Two Degrees-of-Freedom Helicopters with Adaptive Robust Control for Trajectory Tracking

In this paper, we establish the dynamical model of two degrees-of-freedom (2DOF) helicopter by Lagrange energy method, which may be subject to holonomic or nonholonomic constraints. Then we propose a nominal control for the trajectory tracking of 2DOF helicopters by applying Udwadia and Kalaba theory. Considering that there always exist some uncertainties in the 2DOF helicopter's mechanical system such as fuel consumption, air resistance during helicopter flight and the bounds of these uncertainties are unknown, we propose an adaptive robust control method to compensate the uncertainty. The choice of the design parameters in control is not unique, which can be used by the designer to balance the system performance the cost of control.