We consider the problem of attitude tracking for small-scale aerobatichelicopters. A small scale helicopter has two subsystems: the fuselage, modeledas a rigid body; and the rotor, modeled as a first order system. Due to thecoupling between rotor and fuselage, the complete system does not inherit thestructure of a simple mechanical system. The coupled rotor fuselage dynamics isfirst transformed to rigid body attitude tracking problem with a first orderactuator dynamics. The proposed controller is developed using geometric andbackstepping control technique. The controller is globally defined on $SO(3)$and is shown to be locally exponentially stable. The controller is validated insimulation and experiment for a 10 kg class small scale flybarless helicopterby demonstrating aggressive roll attitude tracking.
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