Research on Attitude Active Disturbance Rejection Control for Miniature Unmanned Helicopter

In this paper, the X-Cell 60 SE miniature unmanned helicopter is taken as the research object. Firstly, its full nonlinear flight dynamics model is established by Newton Euler method. On this basis, the model is trimmed for the basic state of hovering, and the control quantity and state quantity in hovering state are obtained. Then, the nonlinear model is analytically linearized according to the trimmed conditions of the hovering state, and the linearized simulation model in the hovering state is obtained. The active disturbance rejection controller is designed for the attitude control loop, and the numerical simulation is carried out in Matlab/Simulink simulation environment. The simulation results show that the designed active disturbance rejection controller can effectively stabilize the attitude motion of miniature unmanned helicopter and achieve reliable attitude stabilization control, and the control performance is significantly better than $H\infty$ robust controller, which can meet the attitude control requirements of miniature unmanned helicopter.