Dynamic Decoupling Control Optimization for a Small-Scale Unmanned Helicopter

Table 1

Physical descriptions of the state and input variables of the helicopter dynamical model.

Variable	Physical significance	Unit
	Position in Earth-fixed coordinate frame	m
	Velocity vector along body frame X-, Y-, and Z-axes	m/s
	Roll, pitch, and yaw angular rates	rad/s
	Euler angles	rad
	Longitudinal and lateral main rotor flapping angle	rad
	Intermediate state in yaw rate feedback controller dynamics	N/A
	lateral cyclic rotor control input	N/A
	longitudinal cyclic rotor control input	N/A
	collective pitch control input	N/A
	tail rotor pedal control input	N/A