The accurate dynamic model of miniature helicopter is difficult to obtain due to its strong nonlinearity, heavy coupling, strong static instability and underactuated characteristics, which becomes a major challenge for its autonomous flight controller design. Meanwhile, high efficient and accurate attitude estimation is an important prerequisite for the realization and control of miniature helicopter. Therefore, it is particularly important to develop high-performance attitude estimation algorithm for the practical application of miniature helicopter. This dissertation mainly focuses on attitude estimation and robust control study for miniature helicopter. The main context and contributions of this dissertation are as follows: (1) In order to meet practical requirements of fast computing, high-precision and etc, attitude estimation study for some airborne related sensor signals is carried out. For the lack of convergence and robustness in the practical application of the attitude estimation algorithm, which is based on EKF and attitude quaternion, an new attitude estimation algorithm based on SR-UKF and euler angles is proposed. The algorithm can make full use of the SR-UKF's effectiveness in nonlinear estimation and euler angles' mutual independence, and thus can obtain more high-performance attitude estimation. A variety of ground test results not only show the good static and dynamic characteristics of the new algorithm, but also display its less time-consuming in airborne computer. And the actual flight tests also verify the effectiveness and practicality of the algorithm. (2) Facing the miniature helicopter's severe nonlinearity, heavy coupling and complex model and parameter uncertainties, an robust active disturbance rejection controller (ADRC), which is simple and has small amount of calculation, is designed. In accordance with the flight control actual requirements and to solve the problem that the traditional discrete realization of the extended state observer (ESO) of ADRC will result in system oscillation, the Tustin bilinear discretization method and a predictive compensation method are introduced to correct the system, which effectively improves the performance of the ADRC controller. And some flight control simulation results also validate the good tracing performance and strong robustness of the modified ADRC controller. (3)In order to achieve reliable stability and excellent flying qualities of the flight control system, a robust a...
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