MPC and LQR type controller design and comparison for an unmanned helicopter

Authors:
Semuel Franko;İlker M. Koç;Can Özsoy;Nurşen Sari
Affiliations:
TUBITAK BILGEM, Information Technologies Institute, Gebze-Kocaeli, Turkey;Istanbul Technical University, Istanbul, Turkey;Istanbul Technical University, Istanbul, Turkey;TUBITAK BILGEM, Information Technologies Institute, Gebze-Kocaeli, Turkey
Venue:
Proceedings of the 2011 Summer Computer Simulation Conference
Year:
2011

Citing 3
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Control System Principles and Design

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Autonomous formation flight of helicopters: model predictive control approach

Autonomous formation flight of helicopters: model predictive control approach
Paper: Model predictive heuristic control

Automatica (Journal of IFAC)

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Abstract

For the control of unmanned helicopter, different controllers have been designed in the literature. Model Predictive Control (MPC) was used in process industry for years. But its application to helicopters is new. In this study, six degrees of freedom nonlinear dynamical model of unmanned helicopter is used to control the translatory velocities and angular displacements. Additionally, two different controllers based on MPC and LQR (Linear Quadratic Control) are designed and numerically tested on the open loop unstable helicopter model. Simulation scenarios with different starting conditions are studied in detail and the outputs are compared. Results demonstrated that with equal or less control effort, MPC-type controller became more successful than LQR controller.