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

Experimental results are presented that illustrate a recently developed method for adaptive output feedback control. The method permits adaptation to both parametric uncertainty and unmodeled dynamics, and incorporates a novel approach that permits adaptation under known actuator characteristics including actuator dynamics and saturation. Only knowledge of the relative degree of the controlled system within the bandwidth of the control design is required. The controller design was tested by controlling the pitch axis of a three degrees-of-freedom (DOF) helicopter model, using attitude feedback through a low-resolution optical sensor.