Non-linear Adaptive System for the Command of the Helicopters Pitch’s Angle

The paper presents a new complex adaptive non-linear system with one input and one output (SISO) which is based on dynamic inversion. The system consists of a dynamic compensator, an adaptive controller and a reference model. Linear dynamic compensator makes the stabilization command of the linearised system using as input the difference between closed loop system’s output and the reference model’s output. The state vector of the linear dynamic compensator, the output and other state variables of the control system are used for adaptive control law’s obtaining; this law is modeled by a neural network. The aim of the adaptive command is to compensate the dynamic inversion error. Thus, the command law has two components: the command given by the linear dynamic compensator and the adaptive command given by the neural network. As control system one chooses the non-linear model of helicopter’s dynamics in longitudinal plain. The reference model is linear. One obtains the structure of the adaptive control system of the pitch angle and Matlab/Simulink models of the adaptive command system’s subsystems. Thus, characteristics that describe the adaptive command system’s dynamics with linear or non-linear actuator are obtained.