“…The helicopter consists of two main rotors and a fuselage; thus, its initial model can be expressed as follows: where t is time, m h is the model of the tandem helicopter, m r1 is the model of rotor 1, m r2 is the model of rotor 2, m f is the model of the fuselage [ 3 , 15 ]. In the current coordinate system, when rotor 1 rotates, its dynamic model can be updated to: where M r1 is the grid coordinate matrix of rotor 1, superscript x represents the translation along the x -axis, superscript xz represents the rotation around the z -axis in the current operation, X r1 is the distance between the axis of rotor 1 and the z -axis in the initial state.…”