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Piecewise constant model predictive control for autonomous helicopters

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journal contribution
posted on 11.12.2012, 14:26 by Cunjia Liu, Wen-Hua Chen, J.D. Andrews
This paper introduces an optimisation based control framework for autonomous helicopters. The framework contains a high-level model predictive control (MPC) and a low-level linear controller. The proposed MPC works in a piecewise constant fashion to reduce the computation burden and to increase the time available for performing online optimisation. The linear feedback controller responds to fast dynamics of the helicopter and compensates the low bandwidth of the high-level controller. This configuration allows the computationally intensive algorithm applied on systems with fast dynamics. The stability issues of the high-level MPC and the overall control scheme are discussed. Simulations and flight tests on a small-scale helicopter are carried out to verify the proposed control scheme.

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Citation

LIU, C., CHEN, W-H and ANDREWS, J.D., 2011. Piecewise constant model predictive control for autonomous helicopters. Robotics and Autonomous Systems, 59 (7-8), pp. 571 - 579

Publisher

© Elsevier

Version

AM (Accepted Manuscript)

Publication date

2011

Notes

This article was published in the journal, Robotics and Autonomous Systems [© Elsevier]. The definitive version is available at: http://dx.doi.org/10.1016/j.robot.2011.04.004

ISSN

0921-8890

Language

en

Exports