Cascaded Model Predictive Control of a Tandem-Rotor Helicopter

DOI10.1109/LCSYS.2023.3237954MaRDI QIDQ6441921zbMATH OpenFDO

Authors Faraaz Ahmed, Ludwik Sobiesiak, James Richard Forbes

Publication date 28 June 2023

Full work available at URL https://doi.org/10.1109/LCSYS.2023.3237954

Abstract: 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 $S{E}_2(3)$ 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.

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