A novel robust control strategy with adaptive law for angle tracking of a Two-Degree-of-Freedom helicopter

Yinfei Zhu, Demeng Qian, Han Zhao, School of New Energy and Intelligent Connected Automobile, Anhui University of Science and Technology, Faculty of Science, Engineering and Technology, Swinburne University of Technology, School of Mechanical Engineering, Hefei University of Technology

Journal of Vibration and Control

Published online on June 27, 2025

Abstract

Journal of Vibration and Control, Ahead of Print.
This paper presents a dynamic model of a Two-Degree-of-Freedom helicopter using Lagrange’s energy formulation with holonomic constraints. A novel control approach based on Udwadia-Kalaba theory ensures angle tracking, while an adaptive robust controller ...