Cascaded Model Predictive Control of a Tandem-Rotor Helicopter
| Autor: | Ahmed, Faraaz, Sobiesiak, Ludwik, Forbes, James Richard |
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| Rok vydání: | 2023 |
| Předmět: | |
| Zdroj: | in IEEE Control Systems Letters, vol. 7, pp. 1345-1350, 2023 |
| Druh dokumentu: | Working Paper |
| DOI: | 10.1109/LCSYS.2023.3237954 |
| Popis: | This letter considers cascaded model predictive control (MPC) as a computationally lightweight method for controlling a tandem-rotor helicopter. A traditional single MPC structure is split into separate outer and inner-loops. The outer-loop MPC uses an $SE_2(3)$ error to linearize the translational dynamics about a reference trajectory. The inner-loop MPC uses the optimal angular velocity sequence of the outer-loop MPC to linearize the rotational dynamics. The outer-loop MPC is run at a slower rate than the inner-loop allowing for longer prediction time and improved performance. Monte-Carlo simulations demonstrate robustness to model uncertainty and environmental disturbances. The proposed control structure is benchmarked against a single MPC algorithm where it shows significant improvements in position and velocity tracking while using significantly less computational resources. Comment: 6 pages, 3 figures |
| Databáze: | arXiv |
| Externí odkaz: |
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