Experimental results on adaptive output feedback control using a laboratory model helicopter

Kutay A. T., Calise A. J., Idan M., Hovakimyan N.

AIAA Guidance, Navigation, and Control Conference and Exhibit 2002, Monterey, CA, United States Of America, 5 - 08 August 2002 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.2514/6.2002-4921
  • City: Monterey, CA
  • Country: United States Of America
  • Middle East Technical University Affiliated: Yes


Experimental results are presented that illustrate a recently developed method for direct output feedback adaptive control. The method permits adaptation to both parametric uncertainty and unmodeled dynamics, and incorporates a novel approach that permits adaptation during periods of control saturation. A controller designed using this method was tested in controlling the pitch axis of a three degrees of freedom helicopter model, using attitude feedback through a low resolution optical sensor. © 2002 by the author(s).