Backstepping-based Anti-disturbance Flight Control for Attitude and Altitude Unmanned Helicopters with State Constraints

In this paper, a state-constrained anti-disturbance control method based on backstepping control is proposed for the altitude attitude unmanned helicopter system under full state constraints. Firstly, a nonlinear disturbance observer is constructed to estimate the system disturbances. Secondly, the flight controller is built based on the backstepping control method and the disturbance estimations for the altitude attitude unmanned helicopter system. Then, the boundedness of closed-loop tracking error system is guaranteed via using the Barrier Lyapunov function technique. Finally, a simulation is carried out in Matlab/Simulink environment to verify the effectiveness of designed helicopter flight controller.