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Journal Cover   Control Engineering Practice
  [SJR: 1.245]   [H-I: 67]   [32 followers]  Follow
    
   Hybrid Journal Hybrid journal (It can contain Open Access articles)
   ISSN (Print) 0967-0661
   Published by Elsevier Homepage  [2811 journals]
  • Tracking control of small-scale helicopters using explicit nonlinear MPC
           augmented with disturbance observers
    • Abstract: Publication date: March 2012
      Source:Control Engineering Practice, Volume 20, Issue 3
      Author(s): Cunjia Liu , Wen-Hua Chen , John Andrews
      Small-scale helicopters are very attractive for a wide range of civilian and military applications due to their unique features. However, the autonomous flight for small helicopters is quite challenging because they are naturally unstable, have strong nonlinearities and couplings, and are very susceptible to wind and small structural variations. A nonlinear optimal control scheme is proposed to address these issues. It consists of a nonlinear model predictive controller (MPC) and a nonlinear disturbance observer. First, an analytical solution of the MPC is developed based on the nominal model under the assumption that all disturbances are measurable. Then, a nonlinear disturbance observer is designed to estimate the influence of the external force/torque introduced by wind turbulences, unmodelled dynamics and variations of the helicopter dynamics. The global asymptotic stability of the composite controller has been established through stability analysis. Flight tests including hovering under wind gust and performing very challenging pirouette have been carried out to demonstrate the performance of the proposed control scheme.


      PubDate: 2015-05-21T06:11:36Z
       
 
 
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