Model Predictive Control of a Tandem-Rotor Helicopter With a Nonuniformly Spaced Prediction Horizon

DOI10.1109/LCSYS.2022.3178785MaRDI QIDQ6402049zbMATH OpenFDO

Authors Faraaz Ahmed, Ludwik Sobiesiak, James Richard Forbes

Publication date 14 June 2022

Full work available at URL https://doi.org/10.1109/LCSYS.2022.3178785

Abstract: This letter considers model predictive control of a tandem-rotor helicopter. The error is formulated using the matrix Lie group $S{E}_2(3)$. A reference trajectory to a target is calculated using a quartic guidance law, leveraging the differentially flat properties of the system, and refined using a finite-horizon linear quadratic regulator. The nonlinear system is linearized about the reference trajectory enabling the formulation of a quadratic program with control input, attitude keep-in zone, and attitude error constraints. A non-uniformly spaced prediction horizon is leveraged to capture the multi-timescale dynamics while keeping the problem size tractable. Monte-Carlo simulations demonstrate robustness of the proposed control structure to initial conditions, model uncertainty, and environmental disturbances.

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