Trajectory tracking control of a miniature autonomous helicopter with input and output constraints

We propose an active control strategy for a miniature autonomous helicopter (MAH) with nonlinear input saturation in this paper. In order to deal with the effect of the input saturation, we design an auxiliary system and bring it into the active control design for the desired trajectory tracking based on a simplified MAH model. With the designed control, the stability of the closed-loop system is proven and obtained via Lyapunov's direct method and the effectiveness of the proposed control method is illustrated by the control performances in the numerical simulation.