Decentralised nonlinear predictive control for twin rotor multi-input multi-output system

The paper proposes a method to build a decentralised nonlinear predictive control of the MIMO system (TRMS). The control is based on minimising the quadratic objective functions consisting of an error between the desired reference and the predicted output. This control is intended to make the TRMS pursue a specific trajectory or stabilise its angles (pitch and yaw) in definite positions. The decentralised control structure is proposed in this work. This involves breaking down the complex structure of the TRMS into interconnected subsystems vertical and horizontal, each of which is a menu of sensors and actuators that are specific to it, and controlled by a local control unit, the coupling effect is considered as a perturbation to each other. In order to validate the control structure developed for the TRMS, performance and robustness tests were performed in simulation. The results confirmed the efficacy of the control method.