Active disturbance rejection control for the yaw tracking for unmanned helicopter

The yaw dynamics of helicopter involve input nonlinearity, time-varying parameters and the couplings between main and tail rotor. With respect to such a complicated dynamics, the normal control is difficult to realize good tracking performance while maintaining stability and robustness simultaneously. In this paper, an active disturbance rejection control(ADRC) method is proposed. we design an extended state observer (ESO) to estimate the impact...