In this paper , we design a quaternion based attitude contrQler for small clectric helicopter . Firstly , wc derivc a MIMO ( Multi − lnput Multi − Output)nonlinear attitude mQdel of a small helicop − ℃ er . In this model , we adopt the quatemiDn fo丁 attitude expressien . This rnodel corlsist ofthree parts, the dyllamics of quaternion , the Euler ' s equation , and し he dynarnics of main rotor and stabilizer . Secondly , we desfgn a MIMO controller by using backstepping control method which is (me of nonlinear control ethod . The asymptotic stability of the origin of err 〔 〕r system is achieved by this controller . Simulation and experiment results show that the nonlinear controller is m 〔} re effec [ ive than linear c 〔〕ntrol ユ er which was used in previous study .
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