Explicit Model Predictive Control of 3-DOF helicopter

By introducing Multi-parametric Quadratic Programming, EMPC(Explicit Model Predictive Control) moves the frequent online computation of the optimization problem offline and provides an explicit optimal control law u*(x). Then the control law of current state x can be evaluated by searching the table online. This makes the system of large size or high sample rate finely controlled. In this paper, explicit model predictive control of 3-DOF helicopter is presented in numerical simulation and semi-physical simulation and both turn out well. Besides proving the feasibility and performance of EMPC algorithm, semi-physical simulation also enriches the application of EMPC.