Non-linear predictive control of 2 DOF helicopter model

Author

Dutka, Arkadiusz S. ; Ordys, Andrzej W. ; Grimble, Michael J.

Author_Institution

Ind. Control Centre, Strathclyde Univ., Glasgow, UK

Volume

4

fYear

2003

fDate

9-12 Dec. 2003

Firstpage

3954

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.

Keywords

aircraft control; helicopters; nonlinear control systems; predictive control; state-space methods; time-varying systems; 2 DOF helicopter model; 2 degrees of freedom; general predictive control; linear time varying representation; nonlinear algorithm; nonlinear predictive control; nonlinearity; state dependent state space representation; state space GPC controller; time varying system parameters; Control systems; Helicopters; Industrial control; Optimal control; Petrochemicals; Prediction algorithms; Predictive control; Predictive models; Stability; Time varying systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2003. Proceedings. 42nd IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7924-1

Type

conf

DOI

10.1109/CDC.2003.1271768

Filename

1271768