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

Table 5

Direct measurement parameters of fuselage and stabilizer.

Symbol	Physical meaning	Numerical value
	Forward projection area	0.03 m^2
	Lateral projection area	0.11^2
	Vertical projection area	0.06 m^2
	HS station	1.035 m
	HS waterline	0.418 m
	VF station line	1.280 m
	VF waterline	0.398 m
	Horizontal tail area	0.017 m^2
	Horizontal tail aspect ratio	1.32
	Horizontal tail inclination	0 rad
	Horizontal tail area	0.011 m^2
	Vertical tail aspect ratio	3.72
	Vertical tail sweep angle	0.4 rad
	Vertical tail inclination	0 rad