Model Predictive Control of Maneuvering Helicopters

The design and tracking performance of model predictive controllers for complex, control oriented, physics based helicopter models is investigated. A nonlinear model of the helicopter, which also includes blade flexibility, is first linearized around specific flight conditions like level banked turns and helical turns. Model predictive controllers are then designed using the linearized helicopter models and their ability to track discontinuous maneuvering trajectories is evaluated. The performance metrics used herein are tracking quality, satisfaction of heterogeneous constraints, and computation time.

[1]  Carlo L. Bottasso,et al.  Rotorcraft Trim by a Neural Model-Predictive Auto-Pilot , 2005 .

[2]  Cornel Sultan,et al.  Integrated Maneuvering Helicopter Model and Controller Design , 2012 .

[3]  R. T. N. Chen,et al.  Kinematic properties of the helicopter in coordinated turns , 1981 .

[4]  Tugrul Oktay,et al.  CONSTRAINED CONTROL OF COMPLEX HELICOPTER MODELS , 2012 .

[5]  Bernd Krauskopf,et al.  Sensitivity of the Generic Transport Model upset dynamics to time delay , 2014 .

[6]  S. Shankar Sastry,et al.  Autonomous helicopter formation using model predictive control , 2006 .

[7]  Eric A. Wan,et al.  MODEL PREDICTIVE NEURAL CONTROL OF A HIGH-FIDELITY HELICOPTER MODEL , 2001 .

[8]  Gareth D. Padfield,et al.  Helicopter Flight Dynamics , 2000 .

[9]  Roberto Celi,et al.  Some Aspects of Helicopter Flight Dynamics in Steady Turns , 1998 .

[10]  Roberto Celi,et al.  Hingeless Rotor Dynamics in Coordinated Turns , 1990 .

[11]  Yalcin Faik Sumer.  Predictive Control of Multibody Systems for the Simulation of Maneuvering Rotorcraft , 2005 .

[12]  C.E. Shannon,et al.  Communication in the Presence of Noise , 1949, Proceedings of the IRE.

[13]  Michael J. Grimble,et al.  Non-linear predictive control of 2 DOF helicopter model , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[14]  Tugrul Oktay,et al.  Simultaneous Helicopter and Control-System Design , 2013 .

[15]  Cornel Sultan,et al.  Variance Constrained Control of Maneuvering Helicopters , 2012 .

[16]  David Q. Mayne,et al.  Constrained model predictive control: Stability and optimality , 2000, Autom..

[17]  Jan M. Maciejowski,et al.  Predictive control : with constraints , 2002 .