Fuzzy Extended-State Adaptive Sliding Mode Flight Control of Compound Thrust Unmanned Helicopter

To achieve precise trajectory tracking for the Compound Thrust Unmanned Helicopter (CTUH) across all Flight Modes, an Extended State Adaptive Sliding Mode Control (FEASMC) method is proposed. CTUH exhibits strong nonlinear and coupled dynamics. The method integrates an extended state observer with a fuzzy nonlinear law to estimate disturbances and handle actuator faults. A weight adjustment strategy ensures stable mode switching. Simulations and flight tests confirm high tracking accuracy throughout the entire flight envelope.