Laboratory testbed for nonlinear control of an autonomous model helicopter

This work describes the design and implementation of a laboratory testbed for autonomous helicopter controller design and test. This discussion includes structural design of two different platforms for limited 2DOF and full 6DOF movement of a small scale electrical helicopter, state estimation by means stereoscopic vision, real-time control environment and radio system. These components are implemented in different hardware and software platforms and interconnected and coordinated in order to fulfill the real-time requirements of this underactuated nonlinear mechanical plant