Disturbance-Observer-Based Adaptive Fuzzy Tracking Control for Unmanned Autonomous Helicopter With Flight Boundary Constraints

Research output: Journal Publications and ReviewsRGC 21 - Publication in refereed journalpeer-review

14 Scopus Citations
View graph of relations


Related Research Unit(s)


Original languageEnglish
Pages (from-to)184-198
Journal / PublicationIEEE Transactions on Fuzzy Systems
Issue number1
Online published21 Jun 2022
Publication statusPublished - Jan 2023


In this paper, a disturbance-observer-based adaptive fuzzy tracking control scheme is proposed for a medium-scale unmanned helicopter of six degrees of freedom in the presence of system uncertainties, flight boundary constraints and external disturbances. A flight boundary protection algorithm is proposed to ensure its flight trajectory within the given safety range. A fuzzy logic system is utilized to estimate the system uncertainties and a nonlinear disturbance observer is adopted to handle the unknown compound terms of the external disturbances and the estimation errors resulting from the fuzzy logic system. An inverse optimal control approach is then used to avoid solving the Hamilton-Jacobi-Bellman equation in minimizing a cost function in the attitude loop. It is shown via the Lyapunov method that the desired safe tracking performance of the position loop and attitude loop of the controlled unmanned helicopter can be achieved. Simulations are provided to illustrate the effectiveness of the proposed control scheme.

© 2022 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.

Research Area(s)

  • Dynamic surface control, flight tracking control, Fuzzy logic, fuzzy logic systems, Helicopters, inverse optimal control, Mathematical models, Optimal control, Real-time systems, Trajectory, Uncertainty, unmanned autonomous helicopters