Longitudinal and Lateral Dynamics Control of a Small Scale Helicopter Using Adaptive Backstepping Controller under Horizontal wind Gusts

AbstractThis paper considered the problem of stabilization of longitudinal and lateral dynamics of an unmanned autonomous helicopter (UAH) for hovering flight mode in a gusty environment. The controllers design is based on generic linear model which successfully describe the behavior of most smallscale helicopters. A backstepping design procedure is used to design the adaptive controller for longitudinal and lateral dynamics based on control Lyapunov approach. For comparison purposes we also design another controller based on the linear quadratic regulator (LQR) criteria. The simulation results demonstrate that the proposed adaptive controllers can effectively attenuate the gust effects and achieve rapid and accurate longitudinal and lateral position in the gusty environment.