Robotics and Autonomous Systems
Brief paper: Design and implementation of an autonomous flight control law for a UAV helicopter
Automatica (Journal of IFAC)
A Quasi-Infinite Horizon Nonlinear Model Predictive Control Scheme with Guaranteed Stability
Automatica (Journal of IFAC)
Survey Constrained model predictive control: Stability and optimality
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Journal of Intelligent and Robotic Systems
Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups
Journal of Intelligent and Robotic Systems
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This paper introduces an optimisation based control framework for autonomous helicopters. The framework contains a high-level model predictive control (MPC) and a low-level linear controller. The proposed MPC works in a piecewise constant fashion to reduce the computation burden and to increase the time available for performing online optimisation. The linear feedback controller responds to fast dynamics of the helicopter and compensates the low bandwidth of the high-level controller. This configuration allows the computationally intensive algorithm applied on systems with fast dynamics. The stability issues of the high-level MPC and the overall control scheme are discussed. Simulations and flight tests on a small-scale helicopter are carried out to verify the proposed control scheme.