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<p>This paper addresses the attitude tracking control problem for a 3-degree-of-freedom (DOF) helicopter subjected to both external and state-dependent internal disturbances. To counteract these disturbances, we propose an output feedback controller based on an extended state observer (ESO) that estimates state-dependent system uncertainties and attitude angle velocities. Additionally, we impose constraints on the control input and system state to enhance the safety of the 3-DOF helicopter system. Experimental results validate the effectiveness of the proposed control approach.</p>

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Active disturbance rejection attitude control for 3-degree-of-freedom helicopters with input and state constraints

  • 期刊论文

  • 发表日期：

    2026年5月11日

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  • Rongxin Duan,
  • Zhi-Liang Zhao,
  • Sen Chen,
  • Yueyue Xie

摘要

This paper addresses the attitude tracking control problem for a 3-degree-of-freedom (DOF) helicopter subjected to both external and state-dependent internal disturbances. To counteract these disturbances, we propose an output feedback controller based on an extended state observer (ESO) that estimates state-dependent system uncertainties and attitude angle velocities. Additionally, we impose constraints on the control input and system state to enhance the safety of the 3-DOF helicopter system. Experimental results validate the effectiveness of the proposed control approach.