Switched Tracking Control for Unmanned Helicopter With Position Output Constraints

In this paper, the switched tracking control scheme is investigated for the position loop of an unmanned helicopter (UH) with output constraints. To maintain the position within the restricted range, a switching trajectory boundary protection method is used to produce a constrained trajectory. Based on this, the error system can be represented as a switched system. The switching controllers and the switching rule are co-designed to guarantee the tracking performance. Simulation results illustrate the effectiveness of the proposed control scheme.