Modélisation et commande robuste d'un hélicoptère drone soumis à des rafales de vent

The helicopters and more particularly the unmanned helicopters function in an external environment where the execution of the task can be affected by atmospheric turbulence which lead to variations in the parameters of its model. A nonlinear simple model with 3-DOF of an unmanned helicopter with unknown disturbances is considered and used. These disturbances of the wind gusts type are attenuated via nonlinear robust controls: a robust nonlinear feedback control(RNFC) and an active disturbance rejection control (ADRC) which uses a nonlinear observer. Several simulations then show the best effectiveness of the disturbances rejection by using this extended state nonlinear observer.