An adaptive backstepping control algorithm is presented for trajectory tracking of a miniature autonomous helicopter with inertial parameter uncertainties. The control algorithm is designed based on a simplified helicopter model in cascaded form with the backstepping technology. The inertial parameter uncertainties are compensated online with parameter adaptive update laws. The closed-loop stability analysis for the un-simplified complete helicopter model under this control algorithm is provided. Simulation results demonstrate the performances of the proposed approach.
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Zhu et al. (2011) studied this question.
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