A developed adaptive tracking control technique for a four-rotor helicopter with external disturbance

This paper deals with the tracking control problem of attitude angles for a four-rotor helicopter with external disturbance. A new direct adaptive compensation controller and its parameter adaptive laws are designed based on the Lyapunov stability theory, and the designed contorller can not only compensate the disturbance efficiently, but also can make the attitude angles of the four-rotor helicopter track a given reference output. By using the Barbalat lemma, the system's state tracking performance is proofed. Finally, the proposed adaptive technique is evaluated by a simulation example.