Fast model predictive control of 3-DOF helicopter

In order to solve the problem that model predictive control, MPC, is difficult to apply to the large scale system or fast dynamic system, in this paper, we describe a new fast online optimization predictive control method. This method is to exploit the structure of the QPs that arise in MPC, reorder the appropriate variable and use the advanced interior-point to improve the control performance and achieve the rapid control objective. At the same time, we apply the method to the 3-DOF helicopter, and make a comparison between the fast MPC and the traditional MPC. The advantage of the fast MPC are concluded.