This paper presents an approach to synthesizing nonlinear control algorithms for a helicopter model. Based on the second-kind Lagrange equations, the mechanical equations of the system are derived, accounting for the aerodynamic drag of the blades and fuselage. The problem of designing a control algorithm that stabilizes the helicopter on the ground with a specified angular position relative to the vertical axis has been solved. The proposed control law incorporates dynamic constraints associated with the helicopter’s physical model. The paper also examines control algorithms derived from the linearization of the mechanical system.