Trajectory Following Control of Small-Scale Unmanned Helicopter by Using Model-Following-Type Model Predictive Control

In this paper, we describe a trajectory following control for an unmanned small-scale helicopter that weighs about 9 kg. In order to achieve desirable trajectory following performance, we use model-following-type optimal control methods which are extensions of our previous work. In designing the translational guidance controller, we apply a model-following-type model predictive control method. It is important to consider the trade-off between trajectory following performance and attitude angle response in the design. These elements are reflected in the performance index for the design of the model predictive controller. In the altitude controller design, we apply a model-following-type LQI method. Experimental results are presented to show the effectiveness of our control strategy. Accurate control performance is achieved in circular and sinusoidal trajectory following flight experiments under windy conditions.