TY - GEN
T1 - Robust observer based model predictive control of a 3-DOF helicopter system
AU - Zhai, Yujia
PY - 2013
Y1 - 2013
N2 - Helicopter systems are characterized by highly nonlinear dynamics, multiple operating regions, and significant interaction among state variables. In this paper, an observer based model predictive control (MPC) scheme with successive linearization is presented, for a 3 degree of freedom (DOF) helicopter system. All control simulations were performed under the conditions of noisy measurements. To illustrate the advantage by using unscented Kalman filter (UKF) as the observer, the performance of UKF based MPC is compared with those of MPC algorithms using linear filters and extended Kalman filter (EKF). The simulation results have shown that for this application the UKF-based MPC has superior performance, in terms of the disturbance rejection and set-point tracking.
AB - Helicopter systems are characterized by highly nonlinear dynamics, multiple operating regions, and significant interaction among state variables. In this paper, an observer based model predictive control (MPC) scheme with successive linearization is presented, for a 3 degree of freedom (DOF) helicopter system. All control simulations were performed under the conditions of noisy measurements. To illustrate the advantage by using unscented Kalman filter (UKF) as the observer, the performance of UKF based MPC is compared with those of MPC algorithms using linear filters and extended Kalman filter (EKF). The simulation results have shown that for this application the UKF-based MPC has superior performance, in terms of the disturbance rejection and set-point tracking.
KW - Helicopter dynamics
KW - Kalman filter
KW - MIMO systems
KW - Model predictive control
KW - Nonlinear systems
UR - http://www.scopus.com/inward/record.url?scp=84880704334&partnerID=8YFLogxK
U2 - 10.1007/978-94-007-6516-0_11
DO - 10.1007/978-94-007-6516-0_11
M3 - Conference Proceeding
AN - SCOPUS:84880704334
SN - 9789400765153
T3 - Lecture Notes in Electrical Engineering
SP - 89
EP - 100
BT - Future Information Communication Technology and Applications, ICFICE 2013
T2 - 2013 International Conference on Future Information and Communication Engineering, ICFICE 2013
Y2 - 24 June 2013 through 26 June 2013
ER -