Full State Constrained Flight Tracking Control for Helicopter Systems with Disturbances

In this paper, a full state-constrained anti-disturbance dynamic surface control method is proposed for six-degree-of-freedom unmanned helicopter systems under state constraints and disturbances. Firstly, due to the underactuated characteristics of systems, an input–output feedback linearization used transform complex nonlinear into facilitated-control ones. Based on transformed disturbance-observer-based control, backstepping Barrier Lyapunov function methods are construct flight controller via uniting constraint technologies. Then, stability theory adopted analysing closed-loop tracking error which confirms that errors bounded scheme. Finally, simulation in MATLAB/Simulink environment verifies system can constrain all states action designed controller, with good performance.