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Unmanned helicopter waypoint trajectory tracking using model predictive control

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3 Author(s)
Castillo, C.L. ; Univ. of South Florida, Tampa ; Moreno, W. ; Valavanis, K.P.

A Model Predictive Control Based Trajectory Tracking (MPCTT) system for small unmanned helicopters is presented. A linear model predictive controller is used to take advantage of the fast algorithms available to solve convex optimization problems. The proposed MPCTT system is compared with a velocity tracking and a position tracking system implemented with classical PIDs from previous research work. Obtained simulation results demonstrate the superiority of the proposed MPCTT approach, generating a substantially less control effort in order to track waypoint trajectories. The unmanned helicopter used for the proposed MPCTT system is considered as a (linearized) linear state-space model obtained for hovering and slow motion; however, as shown, the MPCTT is robust enough to perform trajectory tracking under a cruise flight mode, too.

Published in:

Control & Automation, 2007. MED '07. Mediterranean Conference on

Date of Conference:

27-29 June 2007