Performance-Boosting Attitude Control for 2-DOF Helicopter Applications via Surface Stabilization Approach

Seok Kyoon Kim, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review


This study solves the attitude stabilization problem of 2-degree-of-freedom (2-DOF) helicopters by robustly assigning the variable-performance to the closed-loop system in the presence of the model-plant mismatches and load variations. The proposed approach re-formulates the original problem to a surface stabilization one which yields three contributions: a) the proposed attitude velocity observer forms a conventional Luenberger-type observer incorporating the parameter-independence and estimation gains specifically designed for causing the pole-zero cancellation, b) the pole-zero cancellation velocity control loop makes it possible to accomplish the surface stabilization task with the first-order closed-loop order, and c) the closed-loop analysis results demonstrate the attractive properties of the exponential performance recovery and convergence. The effectiveness of the proposed technique is verified using the experimental platform provided by the Quanser AERO.

Original languageEnglish
JournalIEEE Transactions on Industrial Electronics
Publication statusAccepted/In press - 2021


  • 2-DOF helicopter
  • Active damping
  • Aerodynamics
  • Angular velocity
  • Angular velocity observer
  • Attitude control
  • Damping
  • Helicopters
  • Observers
  • Optimization
  • Pole-zero cancellation
  • Surface stabilization

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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