An active wind gust rejection controller for an autonomous helicopter

This paper proposes a novel wind gust rejection controller for a model helicopter with uncertain parameters. A hybrid of backstepping and active disturbance rejection controller is designed to achieve attitude tracking. The analysis and inclusion of the nature of wind gust disturbances and rotor dynamics yield more practical and reliable disturbance observation. The disturbances are eliminated to the best extent due to real time estimation and compensation, and the robustness against model uncertainties is guaranteed through proper state transformation. The simulation results validate the performance and robustness of proposed controller.