Nomenclature
torque occurred by tail rotor and main rotor
respectively
world coordinates
body coordinates
rotational matrix of body attached coordinate
system with respect to world coordinate system
rotational matrix between main rotor coordinate
system and body attached coordinate system
position of helicopter's center of mass with
respect to world coordinate system
radius of main and tail rotor respectively
total torque of helicopter with respect to
body attached coordinate system
proportional coefficient of tail rotor and main
rotor respectively
unit vector of each coordinates
sliding surfaces
skew symmetric matrix
force generated by tail rotor
acceleration of gravity