Model Predictive Control for a Small Scale Unmanned Helicopter
Kinematical and dynamical equations of a small scale unmanned helicoper are presented in the paper. Based on these equations a model predictive control (MPC) method is proposed for controlling the helicopter. This novel method allows the direct accounting for the existing time delays which are used...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2008-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/10583 |
| _version_ | 1818609925343936512 |
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| author | Jianfu Du Konstantin Kondak Markus Bernard Yaou Zhang Tiansheng Lü Günter Hommel |
| author_facet | Jianfu Du Konstantin Kondak Markus Bernard Yaou Zhang Tiansheng Lü Günter Hommel |
| author_sort | Jianfu Du |
| collection | DOAJ |
| description | Kinematical and dynamical equations of a small scale unmanned helicoper are presented in the paper. Based on these equations a model predictive control (MPC) method is proposed for controlling the helicopter. This novel method allows the direct accounting for the existing time delays which are used to model the dynamics of actuators and aerodynamics of the main rotor. Also the limits of the actuators are taken into the considerations during the controller design. The proposed control algorithm was verified in real flight experiments where good perfomance was shown in postion control mode. |
| first_indexed | 2024-12-16T15:06:17Z |
| format | Article |
| id | doaj.art-7897abb00b96481681cba32dd6f58ea7 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-16T15:06:17Z |
| publishDate | 2008-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-7897abb00b96481681cba32dd6f58ea72022-12-21T22:27:08ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142008-11-01510.5772/1058310.5772_10583Model Predictive Control for a Small Scale Unmanned HelicopterJianfu Du0Konstantin Kondak1Markus Bernard2Yaou Zhang3Tiansheng Lü4Günter Hommel5 School of Mechanical Engineering, Shanghai Jiao Tong University, Minhang Rd 800, Shanghai, 200240, China Faculty of Electrical Engineering and Computer Science, Technische Universität Berlin, Einsteinufer 17/EN10, Berlin 10587, Germany Faculty of Electrical Engineering and Computer Science, Technische Universität Berlin, Einsteinufer 17/EN10, Berlin 10587, Germany School of Mechanical Engineering, Shanghai Jiao Tong University, Minhang Rd 800, Shanghai, 200240, China School of Mechanical Engineering, Shanghai Jiao Tong University, Minhang Rd 800, Shanghai, 200240, China Faculty of Electrical Engineering and Computer Science, Technische Universität Berlin, Einsteinufer 17/EN10, Berlin 10587, GermanyKinematical and dynamical equations of a small scale unmanned helicoper are presented in the paper. Based on these equations a model predictive control (MPC) method is proposed for controlling the helicopter. This novel method allows the direct accounting for the existing time delays which are used to model the dynamics of actuators and aerodynamics of the main rotor. Also the limits of the actuators are taken into the considerations during the controller design. The proposed control algorithm was verified in real flight experiments where good perfomance was shown in postion control mode.https://doi.org/10.5772/10583 |
| spellingShingle | Jianfu Du Konstantin Kondak Markus Bernard Yaou Zhang Tiansheng Lü Günter Hommel Model Predictive Control for a Small Scale Unmanned Helicopter International Journal of Advanced Robotic Systems |
| title | Model Predictive Control for a Small Scale Unmanned Helicopter |
| title_full | Model Predictive Control for a Small Scale Unmanned Helicopter |
| title_fullStr | Model Predictive Control for a Small Scale Unmanned Helicopter |
| title_full_unstemmed | Model Predictive Control for a Small Scale Unmanned Helicopter |
| title_short | Model Predictive Control for a Small Scale Unmanned Helicopter |
| title_sort | model predictive control for a small scale unmanned helicopter |
| url | https://doi.org/10.5772/10583 |
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