Adaptive robust control of unmanned helicopter angular rate

Put forward a compound control strategy, which is designed with extended state observer and sliding mode variable structure control. The angular rate control of unmanned helicopter is validated through a Hardware-in-the-loop simulation, the simulation results show that the proposed control strategy can not only make the angular rate control of helicopter stable under the flight condition of turbulent, but also can ensure the angular rate accurate tracking according to different helicopter model without changing model parameters. The results indicate that the controller has strong robustness and adaptive ability.