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Abstract This study develops a neural network control for a non‐linear two‐degree‐of‐freedom unmanned helicopter system satisfying prescribed performance constraints is developed. By introducing a prescribed performance function to express the system constraints, a constrained tracking control problem is transformed into an equivalent unconstrained stability problem through error transformations. The neural network controller is designed to ensure that the tracking error converges to a small neighborhood of zero and that the prescribed performance constraints are satisfied. Furthermore, the stability and error convergence of the system are analysed through the Lyapunov direct approach. The effectiveness of the proposed control scheme is verified by simulation and experimental results.