The experimental study of Backstepping Active Disturbance Rejection Controller of helicopter

This paper proposes the experimental study of a novel method of Backstepping Active Disturbance Rejection Controller of helicopter, which estimates and compensates the environmental disturbances and nonlinear aerodynamic forces in real time with little reliance on accurate system model. A reduced-order controller is designed and applied in flight tests. The attitude tracking and disturbance rejection experiment demonstrated its utility in attitude tracking and disturbance rejection.