Non-linear predictive control of 2 DOF helicopter model

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 23 Apr 2004Publisher:IEEEJournal:42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)

Authors: Dutka, A.; Ordys, A.W.; Grimble, M.J.;

doi: 10.1109/cdc.2003.1271768

Non-linear predictive control of 2 DOF helicopter model

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Abstract

This paper presents the application of non-linear predictive control algorithm to a helicopter model. First, the model of the helicopter is discussed. Next, the nonlinear algorithm is introduced which is based on state-space GPC controller. The non-linearity is handled by converting the state-dependent state-space representation into the linear time-varying representation. The predictions of the future controls are used to calculate predictions of the future states and of the future time varying system parameters. Applied to the helicopter model, the algorithm performs well. It is capable of the stabilizing the system for maneuvers for which it's linear counterpart fails.

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University of Strathclyde
United Kingdom

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