Adaptive fuzzy backstepping control for a miniature helicopter

This paper presents an adaptive control approach for a miniature helicopter with modeling uncertainties. The controller design has been carried out by combining backstepping design and adaptive fuzzy control. This combination involves superimposing the two control techniques in order to meet both stability and performance objectives. First, the adaptive Takagi-Sugeno fuzzy systems are employed to compensate for the effect of uncertain dynamics. Then, the controller synthesis are completed based on the backstepping design. The stability of the overall closed-loop system is guaranteed based on the Lyapunov theorem. Computer simulation results are given to demonstrate the applicability of the proposed control method.