Adaptive Parameter Identification for Simplified 3D-Motion Model of ‘LAAS Helicopter Benchmark'1

The paper is devoted to design and experimental testing of adaptive algorithms for identification of the angular motion model parameters for “LAAS Helicopter Benchmark”. The simplified model describes the isolated pitch motion and interrelated elevation and travel motions of the “Helicopter”. The adaptive identification algorithms are proposed, and the experimental results are presented. Laboratory experiments clarify the properties of the adaptive identification in the real-world conditions. The identification results may be used to design the 3DOF control laws for the “Helicopter” both for adaptive and non-adaptive cases.