Robust Altitude and Attitude Model Free Control for a Microcoaxial Helicopter

In this paper, a model-free control based on non-linear backstepping control (MFC-NB) approach is proposed for a micro coaxial helicopter. MFC is a technique dedicated to systems with insufficient knowledge of their model or a system influenced by uncertainties and external disturbances. The proposed control strategy is based on combined techniques: nonlinear Backstepping (NB) as a feedback controller and model-free control (MFC) is introduced to eliminate undesirable effects. Then, the stability analysis is proved via Lyapunov theory. Simulation results with robustness tests have demonstrated the robust performance and the efficiency of the proposed method.