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In this study, attitude control is proposed for helicopters with actuator dynamics. For the nominal helicopter dynamics, model-based control is firstly presented to keep the desired helicopter attitude. To handle the model uncertainty and the external disturbance, radial basis function neural networks are adopted in the attitude control design. Using neural network approximation and the backstepping technique, robust attitude control is proposed with full state feedback. Considering unknowndoi:10.1049/iet-cta.2009.0478 fatcat:e6frwklb25felltzffxvldtfcu