Yaw control of small-scale helicopter with time-varying uncertainty: An adaptive robust H-2 control approach

This paper is concerned with the robust H-2 tracking control problem for the yaw control of a small-scaled helicopter with time-varying uncertainty. The proposed controller incorporates an adaptation mechanism, which improves the performance of system compared with conventional robust controller with a fixed gain. Simulation results of the yaw control of a small-scaled helicopter mounted on an experiment platform have demonstrated the theoretic results