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

Table 1

Direct measurement parameters of the main smart wing.

Symbol	Physical meaning	Numerical value
	Pulp hub station	0.40 m
	Hub waterline	0.598 m
	Axis anteversion angle	0 rad
	MR angular rate	190.5 rad/s
	Main blade weight	0.18 kg
	Number of main pulp blades	2
	Plate radius	0.78 m
	Chord length of main pulp	0.059 m
	Blade torsion	0 rad
	Pitch-flap coupling rate	0