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

Table 6

Re-estimated parameters based on measurements.

Symbol	Physical meaning	Numerical value
	Mass moment of main pulp relative to flapping hinge	0.869
	Moment of inertia of main pulp around flapping hinge	0.0467
	Moment of inertia of auxiliary pulp relative to pulp hub	0.0034
	Effective dynamic pressure rate of horizontal tail	0.8
	Effective dynamic pressure rate of vertical tail	0.9