This paper presents a dynamic model of a Two-Degree-of-Freedom helicopter using Lagrange’s energy formulation with holonomic constraints. A novel control approach based on Udwadia-Kalaba theory ensures angle tracking, while an adaptive robust controller with a leakage-type adaptive law addresses system uncertainties, such as friction and air resistance. The controller optimizes performance and minimizes control costs through flexible parameter selection. Simulations demonstrate its superior precision and efficiency compared to PD and nominal control methods, achieving accurate pitch and yaw tracking with reduced effort. This approach enhances classical control theory and offers applications in robotics and automation.
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