Trajectory following control of small scale unmanned helicopter by using model-following-type model predictive control

被引：0
作者：
Nakazawa, Daisuke [1 ]
Suzuki, Satoshi [1 ]
Nonami, Kenzo [1 ]
机构：
[1] Graduate School of Engineering, Chiba University, Inage-ku, Chiba-shi, Chiba, 263-8522
来源：
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C | 2008年 / 74卷 / 10期
关键词：
Autonomous flight control; LQI control; Model predictive control; Small-scale unmanned helicopter; Trajectory following control;
D O I：
10.1299/kikaic.74.2504
中图分类号：
学科分类号：
摘要：
In this paper, we describe a trajectory following control for an unmanned smallscale 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.
引用
收藏
页码：2504 / 2511
页数：7
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