Explicit Model Predictive Control of 3-DOF helicopter

Author

Zhang Ju ; Cheng Xinyan

Author_Institution

Coll. of Inf. Eng., Zhejiang Univ. of Technol., Hangzhou, China

fYear

2014

fDate

May 31 2014-June 2 2014

Firstpage

3083

Lastpage

3088

Abstract

By introducing Multi-parametric Quadratic Programming, EMPC(Explicit Model Predictive Control) moves the frequent online computation of the optimization problem offline and provides an explicit optimal control law u*(x). Then the control law of current state x can be evaluated by searching the table online. This makes the system of large size or high sample rate finely controlled. In this paper, explicit model predictive control of 3-DOF helicopter is presented in numerical simulation and semi-physical simulation and both turn out well. Besides proving the feasibility and performance of EMPC algorithm, semi-physical simulation also enriches the application of EMPC.

Keywords

aircraft control; helicopters; optimal control; predictive control; quadratic programming; 3-DOF helicopter; EMPC algorithm; explicit model predictive control; explicit optimal control law; multiparametric quadratic programming; numerical simulation; semi-physical simulation; Educational institutions; Electronic mail; Helicopters; Numerical models; Numerical simulation; Predictive control; Predictive models; explicit model predictive control; numerical simulation; semi-physical simulation;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (2014 CCDC), The 26th Chinese

Conference_Location

Changsha

Print_ISBN

978-1-4799-3707-3

Type

conf

DOI

10.1109/CCDC.2014.6852704

Filename

6852704