Passivity-based Adaptive Trajectory Linearization Control for a model-scaled unmanned helicopter

The passivity-based design approach developed in robotics research is applied to trajectory linearization control (TLC) for a model-scaled unmanned helicopter with uncertain inertial parameters. The previous developed TLC algorithm for the unmanned helicopter is implemented with estimated inertial parameters and adaptive law to update estimated parameters is designed to address parameter uncertainties. Stability of the closed-loop system controlled by proposed adaptive control strategy is proved within the passivity-based control theoretical framework. Performances of the passivity-based adaptive controller is demonstrated by simulation results.