Synthesis of an Orbit Tracking Controller for a 2DOF Helicopter based on Sequential Manifolds with Stabilization Time in the Presence of Disturbances

Abstract

This study presents the design of a controller for a two-degree-of-freedom (2-DOF) helicopter based on sequential invariant manifolds with exponential convergence. The system is decomposed into two subsystems for pitch and yaw angles, and exponentially stable manifolds are constructed for each subsystem. The control law is found based on sequential manifolds and the Analytical Design of Aggregated Regulators (ADAR) method. The controller is designed to increase the system's stability against disturbances while ensuring stability over a finite period of time. The response time of the system can be evaluated in advance through the parameters of the designed manifold. The robustness of the control law for external disturbances was proven using the Lyapunov function in the design process. Finally, the effectiveness of the proposed controller based on the synergetic control theory is demonstrated by numerical simulation results and a comparison with the backstepping controller.