Yaw Control of an Unmanned Helicopter Using Adaptive Model Feedback and Error Compensation

摘要

The yaw control problem of a prototype unmanned helicopter (UH) with novel configuration is addressed in this paper. The yaw control method based on adaptive model feedback and error compensation is proposed, which can achieve desired flight performance and guarantee the convergence of adjustable parameters in the presence of parametric uncertainties and measurement noises. Moreover, the adaptive error compensator with automatic fade-in and fade-out function can contribute greatly to reducing the tracking error in the initial stage of the adaptive learning process, and eliminate the adverse effect of measurement noises on the output of the adjustable system in the later stage. The effectiveness of the proposed controller is proved by a series of near-ground flight tests. The new methodologies proposed in this study are very effective control tools that help bridge the gaps between adaptive control theory and practical applications in high-performance UHs.