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Robust Tracking Control for Small Unmanned Helicopter

The small unmanned helicopter is a strongly coupling system which has a small size, and it is very sensitive to external disturbance. Therefore, it is very meaningful to study the robust control of small unmanned helicopter. In this paper, the dynamic response is represent by linear model of hover flight mode. In order to make the angle rate of the small unmanned helicopter to track the desired angle rate, extended state observer is designed to observe the states and disturbances of small unmanned helicopter which are immeasurable. Then, for the input disturbance, it is offset by observed value, and for the system disturbance, a robust tracking controller is designed to suppress it. Finally, the robust tracking performance of the controller is verified by simulation results.