Robust Control of 2-DoF Helicopter System in Presence of Unmatched Disturbances & Actuator Faults

This paper focuses on the design of robust controllers for the stabilization of CE 150 Humusoft 2-DoF Helicopter system which represents a highly nonlinear & cross coupled system usually subject to external disturbances and parametric uncertainties. A two loop control architecture is used where the inner loop ensures stabilization, error minimization and robustness to parametric uncertainties, matched & unmatched disturbances and the outer loop ensures optimal trajectory tracking without violating actuator saturation bounds. Further, to show the performance of the proposed control scheme, simulation results are presented.