A model reference adaptive control scheme of a high-order nonlinear helicopter subject to input and state constraints

• Published in: Journal of the Franklin Institute Vol. 359; no. 13; pp. 6709 - 6734
• Main Authors: Wang, Yu, Li, Aijun, Yang, Shu, Tian, Haochang
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.09.2022
• ISSN: 0016-0032; 1879-2693
• DOI: 10.1016/j.jfranklin.2022.07.011

•A MRAC scheme is proposed to control helicopter under constraints of multi-input.•State constraints of this helicopter is guaranteed and improve transient performance is improved based on the concept of command governor.•A high-order nonlinear mathematical model of a helicopter is used to test the performance of the proposed control scheme. A model reference adaptive control (MRAC) scheme is proposed for helicopter in this article. Based on the concept of μ-modification method and gradient functions, the proposed MRAC scheme is able to handle control problems of helicopter subject to constraints of inputs and states. Performance of transient response of closed-loop helicopter is improved by conducting the command governor. Stability of the closed-loop helicopter system is guaranteed based on Lyapunov stability theory. The effectiveness of the proposed control scheme is tested through numerical simulations of a high-order nonlinear mathematical model of a helicopter in two flight missions.