Helicopter design is limited by the compromise inherent in meeting hover and forward flight requirements, and the unsteady environment encountered in forward flight. Active control of helicopter rotors using smart material, in-blade actuation can overcome these barriers and provide substantial reductions in noise and vibrations and improved performance. The present study covers the blade/actuator integration and actuator development for a full scale system to demonstrate active control of noise and vibrations as well as inflight blade tracking on the MD Explorer helicopter. A piezoelectric multilayer stack actuator, driving a trailing edge flap, is used for active control. A shape memory alloy torsion actuator, driving a trailing edge trim tab, is used for inflight tracking. Overall, this DARPA sponsored program entails the design, development, and fabrication of the full scale active control rotor system. If successful, an entry in the NASA Ames 40 X 80 foot wind tunnel and flight tests are planned for a follow on program.