Flight control design and experiment of a twin rotor helicopter model via 2 step exact linearization

A flight controller is designed for a twin rotor helicopter model, and the property is examined by experiments. The model has a simlar structure to that of VTOL aircraft. It is not linearizable by static state feedback but linearizable by dynamic state feedback. The design method accomplishes partial linearization by applying static feedback linearization to the main and the lower subsystems hierarchically. The controller has the same structure as the structure previously derived by back stepping. Experiments show the effectiveness.