Prescribed-time constrained feedback control for an uncertain twin rotor helicopter

Abstract

This article presents a prescribed-time adaptive constraint feedback control strategy for an unmanned twin rotor helicopter system in the presence of parametric uncertainties. The integrator backstepping technique and adaptive estimator are employed to handle these unknown parameters. Additionally, a constrained function is utilized to prevent the possibility of signal amplification as the appointed settling time approaches. Through rigorous mathematical analysis employing Lyapunov theory, we prove that the proposed adaptive time-varying constraint feedback control and parameter estimator ensure the boundedness of all signals in the closed-loop system, promoting stability and preventing erratic behavior. One notable benefit of the proposed approach is that the convergence can be achieved within the time specified in advance. Finally, simulations and experiments are carried out to verify the efficacy of the proposed adaptive prescribed-time constraint feedback control strategy. © 2023 Elsevier Masson SAS