Model Predictive Control of a Tandem-Rotor Helicopter With a Nonuniformly Spaced Prediction Horizon

Abstract

This letter considers model predictive control of a tandem-rotor helicopter. The error is formulated using the matrix Lie group $S{E}_2(3)$. A reference trajectory to a target is calculated using a quartic guidance law, leveraging the differentially flat properties of the system, and refined using a finite-horizon linear quadratic regulator. The nonlinear system is linearized about the reference trajectory enabling the formulation of a quadratic program with control input, attitude keep-in zone, and attitude error constraints. A non-uniformly spaced prediction horizon is leveraged to capture the multi-timescale dynamics while keeping the problem size tractable. Monte-Carlo simulations demonstrate robustness of the proposed control structure to initial conditions, model uncertainty, and environmental disturbances.

arXiv comment6 pages, 5 figures

References in corpus (5)

• Unmanned Aerial Vehicles: A Survey on Civil Applications and Key Research Challenges
• Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories
• Finite-Horizon LQR Control of Quadrotors on $S{E}_2(3)$
• Model Predictive Tracking Control for Invariant Systems on Matrix Lie Groups via Stable Embedding into Euclidean Spaces
• Model Predictive Control with Models of Different Granularity and a Non-uniformly Spaced Prediction Horizon

Cited by in corpus (1)

• Cascaded Model Predictive Control of a Tandem-Rotor Helicopter