Modeling and Path Following Control of a Coaxial Helicopter

This paper proposes an approach for modeling and controlling a coaxial helicopter. An autopilot is designed using sliding mode control. It consists of a low-level controller for attitude stabilization and a high-level controller for path following control. Speed controller is also performed using the helicopter dynamics in pitch motion. Simulations are carried out to show the behavior of the overall system and the effectiveness of the designed autopilot.