Feedback linearization of the nonlinear model of a small-scale helicopter

In order to design a nonlinear controller for small-scale autonomous helicopters, the dynamic characteristicsof a model helicopter are investigated, and an integrated nonlinear model of a small-scale helicopter for hoveringcontrol is presented. It is proved that the nonlinear system of the small-scale helicopter can be transformed to a linearsystem using the dynamic feedback linearization technique. Finally, simulations are carried out to validate the nonlinearcontroller.