L.,
Since you don't really say what you'd like to take him to court for, I will assume positive intent.
First, it is very important that your daughter have her father in her life. And secondly, as a father, he does have rights to see his child and be more involved than short visitation stints, unless he's otherwise proven that his involvement could be harmful. I don't know the depth of the fights, and problems you are experiencing with him, so I can only comment based on my experiences and the little amount you have told us about here.
First, I would definitely establish a set of rules through family court. I have done this 'pro se' (representing myelf, without the help of an attorney). In DuPage Cty., family court is held in the evening, and the judges pretty much expect that there will be pro se cases, and they will ask you questions and guide you through the process. there are court attorney's present to help you file paperwork, too. It is not as daunting as you'd think. If you have a visitation schedule in place, it can be upheld by the police and the courts. You didn't say in your question... have you established custody? I have sole custody of my children while my ex only has visitation rights. Some parents find joint custody works for them, too. (custody is much different that visitation, but there needs to be a line drawn).
EDIT: clearly some people are not reading the actual words that I typed... I am in no way telling you to represent yourself, In my case, I already HAD a divorce decree and established visitation/custody. I brought my ex husband back to court to uphold the EXISTING order. I had been granted sole custody of the children because I was the one with examples and documentation of WHY I was fit for this role and why he was unfit. If you cannot afford an attorney, this is a perfectly acceptable way to go to bring matters back to court and uphold your existing orders. It is very difficult to amend a divorce decree, even with an attorney. And don't get me wrong - my ex was VERY mad I brought him back to court... so much so that I was approached in the hallway by a court employee who insisted I be escorted to my vehicle by an armed officer, based on the way he was behaving toward me. I refuse to short change my kids because he has a temper and avoid court altogether.
Secondly, I would request that the court make visitation contingent upon completing their parenting class. You should take it too, not because I think you are a bad parent, but because it will look good to the court if you also participate, it shows that you are willing to work together to be parents to this child.
You have to start with the basics... without these you will just irritate your judge going in there complaining about your childs father not following your rules, when there aren't any truly established in writing.
The parenting class is so important, I cannot express this enough. I have my children's best interest at heart, and it was still worth it to have a guideline to parenting children of a divorce. I still had to remind my ex that there is no room for jealousy in parenting. He would just not show up for his visitation, thinking he was somehow putting a damper on my social life by 'sticking me' with the kids. It took about a year to finally convince him that he is not hurting me by blowing off the kids. Now the kids are 10 an 12 and they could care less if they go with dad - they want to be with their friends. I warned him this would happen.. .he didnt listen.
In the end, you need to be a stable rock for your child, especially if dad is not. I made sure that my kids never met any of my post divorce boyfriends... They didn't even meet my now husband, until we were dating for a year.
Anyway, I don't know if any of these things will help, or apply to your situation, but good luck to you.
~J.~