Attitude Control Method of Unmanned Helicopter Based on Asymmetric Tracking Differentiator and Fal-Extended State Observer

In order to meet the constraints of velocity and acceleration displacement attitude motion an unmanned helicopter during automatic carrier landing mission, asymmetric tracking differentiator, which could set speed limits in two directions tracked signal respectively, was derived based on differentiator active disturbance rejection control method. Based proposed a fal-extended state observer fal function added construct angular controller is programmable transition process helicopters. The mathematical simulation result analysis show that newly estimation algorithm effectively compensates for deficiencies existing methods, improves anti-jamming capability accuracy maneuvering process, achieving expected design purposes.