中文摘要：

针对微小型直升机建模困难,动态模型中不仅含有较多的未知动态,且飞行中内外扰动均比较大的问题,提出一种基于自抗扰控制的飞行控制方法。该方法不仅可以确保微小型直升机六自由度方向上的稳定准确跟踪控制,而且可实时估计并补偿未知动态影响。通过盘旋上升模态下飞行仿真验证了此控制方法的有效性和鲁棒性。

英文摘要：

Modeling of a miniature helicopter is complicated because it involves numerous unknown dynamics and high internal and external disturbances during flights. This paper proposes a flight control scheme based on active disturbance-rejection control. This method not only ensures stable and accurate tracking control in six degrees of freedom, but also estimates and compensates the effect of unknown dynamics in real-time. Simulation results of spiral flights validate the efficiency and robustness of the control algorithm. K