Attitude Control of a Miniature Helicopter Using Adaptive Backstepping Method

This paper prensents an adaptive backstepping attitu-de control method for a miniature helicopter with unknown par-ameters. The adaptive controller is designed by combining a con-trol law with a parameter estimator, which provides estimates of unknown parameters. The stability of the overall closed-loop system is proven to be asymptotically stable based on the Lya-punov theorem. Computer simulation results are given to demon-strate the applicability of the proposed control method.