Constrained Model Predictive Control for Unmanned Helicopter System

In this paper constrained model predictive control will be designed for unmanned helicopter. Due to the nonlinear nature of the system, plant will be linearized to design constrained MPC for tracking predefined velocity references. This controller is according to an onomastic linear state-space model which successfully describes the interaction between small-scale helicopter multivariable dynamics. The controller effect in the presence and absence of disturbance will be deliberated which the simulation results depicts the excellent performance of model predictive control.

کلیدواژه ها:

Model Predictive Control ، Unmanned Robots ، Constraint Optimization ، Linearization