Non linear control Design of the z-DoF Helicopter (TRMS system)

Abstract

In this paper, a backstepping controller is {esigng{ to position the yaw and pitch aigles of a Twin Rotor Multi-input Mdü-àutput Sysiem (TR"MS). With the coupling effects considered as the uncertainties, the highly coupled nonlinear TRMS is decomposed into a horizontal subsystem and a vertical subrystem. The reaching conditions and the stability of the TRMS with the proposed controller are guaranteed. Finally Simulation results are included to indicate that TRMS with the proposed controller can remain robust to the external disturbances.