A Fully Actuated System Approach Based Attitude Control for 3-DOF Helicopter

The Quanser 3-Degree of Free (3-DOF) helicopter attitude control method based on fully actuated system is proposed to achieve the elevation and pitch angle control. The underdriven 3-DOF helicopter model is converted to the full actuated system via state feedback, and the angular acceleration of the model is unmeasurable. In addition, the parametric controller and acceleration observer are proposed to ensure the accurate tracking of the desired attitude reference trajectory. The simulation and physical experiment results show that the Quanser 3-DOF helicopter is able to effectively track the desired elevation and pitch angles using the proposed method.