The unmanned helicopter exhibits a complex and nonlinear dynamic behavior and open-loop unstable. This paper describes a attitude control method based on adaptive output feedback for an unmanned helicopter. First, it is assumed that the controlled system satisfies the output feedback linearization conditions. Second, the approximate model of the system is considered as the diffeomorphism of the system. Then, a linear controller and adaptive neural networks are designed to cancel the model errors produced by nonlinear, uncertainty and disturbance. Finally, the boundedness of tracking errors and weight errors are studied with Lyapunov stability theorem. The application results of an unmanned helicopter show that the proposed controller can not only cancel the dynamical error effectively but also improve tracking performance of the attitude control system.
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