Incremental Nonlinear Dynamic Inversion Attitude Control for Helicopter with Actuator Delay and Saturation

In this paper, an incremental nonlinear dynamic inversion (INDI) control scheme is proposed for the attitude tracking of a helicopter with model uncertainties, and actuator delay saturation constraints. A finite integral compensation based on reduction used to compensate delay, can guarantee semi-globally uniformly ultimately bounded tracking. The overall controller separated into rate, attitude, collective pitch controller. rate controllers combine method INDI enhance robustness uncertainties. Considering physical actuators, pseudo-control hedging (PCH) introduced both in improve performance. By using controller, shows good dynamics under multiple restrictions actuators.