Anti-disturbance control for attitude and altitude systems of the helicopter under random disturbances

In this paper, the issue of anti-disturbance control is investigated for the helicopter attitude and altitude systems with multiple random disturbances. The disturbances are divided into two parts: one is described by the switching systems with Markovian jump parameters; the other one is from the random modeling noise, and considered as random perturbations in the controller design. Combining the disturbance observer based control method, the backstepping control approach and the stochastic Markovian jump system control theory, a flight controller is constructed to guarantee that the attitude and altitude helicopter systems track the predefine attitude and altitude within reasonable bounds. Finally, simulations are given to show the effectiveness of the proposed method.