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Yaw-Angle Control Channel of Subminiature Unmanned Helicopter Based on ADRC

In this paper ADRC algorithm is introduced to design the yaw-angle channel controller of subminiature unmanned helicopter. The original system is extended to a new system with an augmented variable. This approach can realize perfect tracking performance as well as robustness and stability without the exact mathematical model of the system. The simulation results further demonstrate the superiority of the proposed algorithm.