Trajectory Tracking Active Disturbance Rejection Control of the Unmanned Helicopter and Its Parameters Tuning

To solve the problem that trajectory tracking control system of unmanned helicopter is limited by accuracy physical model (parameters and dynamic characteristics) external disturbance helicopter, this paper designs a based on linear/nonlinear hybrid Active Disturbance Rejection Control (ADRC). At same time, proposes method for tuning controller parameters Bacterial Foraging Optimization-Flower Pollination Algorithm (BFO-FPA). Finally, simulation test spiral climb “8”-figure applied to verify controller's performance. The results show proposed in can effectively overcome influence helicopter's internal disturbance, has advantages strong anti- ability robustness. Simultaneously, optimization algorithm obtain optimal global solution, improve