The 2DOF (Degrees-of-Freedom) Helicopter is a system that allows the study of advanced control techniques, which can be applied to real situations of flight control, behavior of helicopter and other aerial vehicles. Its main characteristics are: multivariable system, with non-linearities and output coupling.
The prototype is coposed of a body fixed on a base and two rotors, one for controlling pitch and other for yaw. Two rotary encoders are used for measuring the angles and the controller is embedded in the NXP FRDM-K64F development platform.
Some of our articles published using this prototype are found at: MSC 2016 e CBA 2016