Output regulation for a nonlinear helicopter model with input saturation by CNF control

This paper introduces the composite nonlinear feedback (CNF) control method to solve the output regulation problems of helicopter model with input saturation. To solve the output regulation problem, an observer and an output feedback CNF control law are constructed. The CNF control law includes a linear control law and a nonlinear control law. A linear state equation of helicopter model and a reference signal is proposed. Then solve the regulator equation, design a feedback gain and an observer gain through the experiment many times. In order to study the performance of the controller, we have designed two controllers with or without external disturbances, respectively. All the simulation results shown that the CNF controller works well, and it prove CNF control method can improve the transient performance obviously.