Finite-Time Discrete Control for Two-DOF Helicopter System

Helicopter control system design is inherently intricate and challenging, given the pronounced interconnections and nonlinear uncertainties. This brief delves into discrete control methods for steering the output trajectory of a two-degree-of-freedom (DOF) helicopter. The primary focus lies in addressing the finite-time attitude tracking challenge within a nonlinear two-DOF helicopter system. Our proposed discrete finite-time control technique employs a recursive backstepping approach based on minimum operator, aiming to align independently with the desired pitch and yaw directions. Utilizing Lyapunov stability theory, we demonstrate that our discrete finite-time control strategy ensures finite-time tracking, allowing for the estimation of settling time. To validate the efficacy and control performance of our approach, we present results obtained through simulations and experimental testing of the two-DOF helicopter system.