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

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.