Output feedback neural control of helicopters

Abstract

This paper presents output feedback neural control for helicopters in single-channel modes of operation with dynamics in single-input single-output (SISO) nonlinear nonaffine form. A constructive approach for adaptive NN control design with guaranteed stability is proposed based on the use of the Implicit Function Theorem, Mean Value Theorem, and high gain observer. It is shown that the output tracking error converges to a small neighborhood of the origin, while the remaining closed-loop signals remain bounded. The simulation study demonstrates the effectiveness of the proposed control.