Adaptive neural network control of an uncertain 2-DOF helicopter system with input backlash and output constraints

This study considers an adaptive neural control for a two degrees of freedom helicopter nonlinear system preceded by system uncertainties, input backlash, and output constraints. First, a neural network is adopted to handle the hybrid effects of input backlash nonlinearities and system uncertainties. Subsequently, a barrier Lyapunov function is introduced to limit the output signals for further ensuring the safe operation of the system. The bounded stability of the closed-loop system is analyzed employing the direct Lyapunov approach. In the end, the simulation and experiment results are provided to demonstrate the validity and efficacy of the derived control.