Adaptive Control Design and Experiments for LAAS "Helicopter" Benchmark

Application of the passification-based adaptive control technique for control of Quanser/LAAS ‘‘Helicopter’’ laboratory setup is presented. Two adaptive control laws for pitch angle control are designed and experimentally tested. The MATLAB/Simulink and WinCon software environment is used for adaptive control laws implementation and the real-world experiments. The experimental results demonstrate high closed loop system performance and robustness of the suggested control laws with respect to parametric uncertainties and unmodeled plant dynamics and actuator faults.

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