Backstepping control of Quanser’s 2-DOF Helicopter under disturbance and actuator saturation based on Flower Pollination Algorithm

Ghiloubi, Imam Barket; Abdou, Latifa

doi:10.22060/eej.2026.25565.5962

Backstepping control of Quanser’s 2-DOF Helicopter under disturbance and actuator saturation based on Flower Pollination Algorithm

Articles in Press

Document Type : Research Article

Authors

Imam Barket Ghiloubi ¹

Latifa Abdou ²

¹ Identification Command Control & Communication Laboratory, Faculty of Sciences and Technology, Mohamed Khider University, Biskra, Algeria

² Department of Electronics, Mustapha Ben Boulaïd University, Batna, Algeria

10.22060/eej.2026.25565.5962

Abstract

This paper presents a robust backstepping control strategy for Quanser’s 2-Degree-of-Freedom (2-DOF) helicopter, addressing challenges posed by external disturbances and actuator saturation constraints. The proposed approach leverages Flower Pollination Algorithm (FPA) to fine-tune the control parameters, enhancing system stability and performance. Initially, a mathematical model of the 2-DOF helicopter is derived, incorporating non-linear dynamics and actuator limits. The backstepping control framework is then developed, integrating disturbance rejection mechanisms to mitigate external perturbations. FPA is employed to optimize the controller gains, ensuring optimal performance under various operational scenarios. Extensive simulation results demonstrate the effectiveness of the proposed method, displaying significant improvements in tracking accuracy and robustness against disturbances and actuator saturation compared to conventional control techniques. This study shows the potential of combining the proposed metaheuristic optimization algorithm with robust control strategy for complex aerospace systems like helicopter.

Keywords

Nonlinear control

Aerial robotics

Optimization

Disturbance

Robustness

Subjects