Modeling and Robust Tracking Decoupling Control of a Coaxial Unmanned Helicopter Based on the Improved Alternating Direction Method of Multipliers

Abstract

In this paper, a robust tracking control strategy based on the dynamic feedback linearization method is proposed for the nonlinear and highly coupled dynamic characteristics of coaxial unmanned helicopter. The mathematical model of the coaxial unmanned helicopter is determined by fault analysis. Then the high-order state system is dynamically feedback linearized by extending the state variables, and the dynamic characteristics of the zeros are analyzed according to the expected tracking characteristics of the inner loop. The pole placement of the subsystem realizes robust monitoring of height and position commands by designing robust compensators. On this basis, an outer loop proportional derivative controller is designed for the horizontal positioning subsystem to realize position tracking. Loop tracking simulation ensures the good separation characteristics of feedback linearization method, and trajectory tracking simulation under fault conditions ensures the control ability and durability of the designed controller.