Adaptive output feedback for high-bandwidth flight control

A novel adaptive output feedback approach for high-bandwidth flight-control system design is introduced. The approach permits adaptation to both parametric uncertainty and unmodeled dynamics. Of particular interest here is the interaction with poorly modeled high-frequency dynamics. An approximate output feedback linearizing controller is augmented with a neural network. Adaptation is achieved using input/output sequences of the uncertain system. Actuation limits and time delays are also addressed. The approach is illustrated by the design of a pitch-angle flight-control system for a linearized model of an R-50 experimental helicopter.