Less Conservative Optimal Robust Control of a 3-DOF Helicopter

Table 1

Helicopter parameters.

Power constant of the propeller (found experimentally)		0.1188
Mass of the helicopter body (kg)		1.15
Mass of counterweight (kg)		1.87
Mass of the whole front of the propeller (kg)		/2
Mass of the whole back of the propeller (kg)		/2
Distance between each axis of pitch and motor (m)		0.1778
Distance between the lift axis and helicopter (m)		0.6604
Distance between elevation axis and counterweight (m)		0.4699
Gravitational constant (m/s^2)		9.81