Experimental study on servo adaptive pitch control of a model helicopter

This paper presents the application of explicit self-tuning regulators in controlling the pitch angle of a model helicopter. An adjustable controller in the R-S-T canonical structure incorporated with an integrator is selected as a controller while the adaptation scheme is based the on-line identified model obtained from weighted recursive least squares algorithm and pole placement design. The design scheme to incorporate an integrator to the main R-S-T canonical structure controller is presented. This servo action is introduced to the system in order to improve the tracking property when the system suffers form uncertainty or disturbance. The experimental results of the proposed control system are presented.