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

Table 2

Direct measurement parameters of the tail rotor.

Symbol	Physical meaning	Numerical value
	Tail hub station	1.325 m
	Tail hub waterline	0.398 m
	TR angular rate	910.1 rad/s
	Blade torsion	0 rad
	Number of tail pulp blades	2
	Plate radius	0.135 m
	Chord length of tail slurry	0.027 m
	Double- occlusion factor	0.9