Aiming at control problem of micro unmanned helicopter

an algorithm of feedforward neural networkbased non-linear robust control is proposed.The algorithm is composed of two parts

the first part is a three-layer neural network feedforward that is implemented for compensation of the uncertainties contained in helicopter attitude dynamic models; the other is robust control based on integration of signum function

which is developed for compensation of unknown external disturbances. Lyapunov-based analysis method guarantees the controller can realize semi-global convergence tracking of attitude angle.The proposed control algorithm is verified on a 3 degreeof-freedom helicopter testbed

which demonstrates the good control performance of the proposed control methodology and shows robustness in presence of unknown gust disturbance.