# Disturbance Observer-Based Safe Tracking Control for Unmanned Helicopters with Partial State Constraints and Disturbances

> Research article (IEEE/CAA Journal of Automatica Sinica, 2022) · cited 23× · AI/ML

**Wikidata**: [openalex:W4312952916](https://www.wikidata.org/wiki/openalex:W4312952916)  
**Source**: https://4ort.xyz/entity/disturbance-observer-based-safe-tracking-control-for-unmanned-helicopters-with-partial-state-constraints-and-disturbance