Modeling of real-time flight control system for small coaxial helicopter

Helicopters are theoretically unstable aircraft, but they are widely used in many fields, because of their high maneuverability. The goal of this paper is to build two different real-time control systems for vehicle stabilization and for control to track the desired points or paths. This control system was designed in Matlab/Simulink to control a single RC coaxial helicopter. In the system, four pilot inputs (the desired thrust and the desired roll, pitch, and yaw rates) were calculated from LQR and H∞ control system, and those signals were sent to the RC helicopter's microcontroller using the RC transmitter and receiver.