Singularity-Free Robust Adaptive Controller for Miniature Helicopters

A singularity-free robust adaptive trajectory tracking controller is designed for miniature helicopters with uncertain inertial parameters. Firstly, a position loop controller is developed with the saturation control scheme. Then, a novel attitude loop controller with initial condition constraint proposed for the attitude tracking to the command one. Further, adaptive laws with the projection algorithm are proposed to estimate the uncertain inertial parameters. It is demonstrated that, with the developed controller, the bounded trajectory tracking objective is accomplished.