Control of a Laboratory 3-DOF Helicopter: Explicit Model Predictive Approach

다국어 초록 (Multilingual Abstract)

A helicopter flight control system is a typical multi-input, multi-output system with strong channel couplingand nonlinear characteristics. This paper presents an explicit model predictive control (EMPC) for attituderegulation and tracking of a 3-Degree-of-Freedom (3-DOF) helicopter. A state-space representation of the systemis established according to the characteristics of each degree-of-freedom motion. Multi-Parametric Quadratic Programming(MPQP) and online computation processes for explicit model predictive control and controller design fora 3-DOF helicopter are discussed. The controller design for set-point regulation and tracking time-varying referencesignals of a 3-DOF helicopter are presented respectively. Numerical study of explicit model predictive controlfor attitude regulation and tracking of a 3-DOF helicopter are conducted. A hardware-in-the-loop experimentalstudy of explicit model predictive control of a 3-DOF helicopter is made. To analyze the performances of an EMPCcontrolled helicopter system, an Active Mass Disturbance System and manual interference are considered in comparisonwith PID scheme. Numerical simulation and HIL experimental studies show that explicit model predictivecontrol is valid and has satisfactory performance for a 3-DOF helicopter.

참고문헌 (Reference)

1 F. Bayat, "Using hash tables to manage the time-storage complexity in a point location problem : Application to explicit model predictive control" 47 (47): 571-577, 2011

2 A. Bemporad, "The explicit linear quadratic regulator for constrained systems" 38 (38): 3-20, 2002

3 B. Zheng, "Robust attitude regulation of a 3-DOF helicopter benchmark-theory and experiments" 58 (58): 660-670, 2011

4 A. N. Fuchs, "Optimized decision trees for point location in polytopic data sets application to explicit MPC" 5507-5512, 2010

5 M. Ishitobi, "Nonlinear model following control with parameter identification for a 3-DOF model helicopter" 1-6, 2007

6 C. Panos, "Modelling and explicit model predictive control for PEM fuel cell systems" 7 (7): 15-25, 2012

7 M. Morari, "Model predictive control : past, present and future" 23 (23): 667-668, 1999

8 F. Bayat, "Flexible piecewise function evaluation methods based on truncated binary search trees and lattice representation in explicit MPC" 20 (20): 632-640, 2012

9 A. T. Kutay, "Experimental results on adaptive output feedback control using a laboratory model helicopter" 13 (13): 196-202, 2005

10 P. T∅ndel, "Evaluation of piece wise affine control via binary search tree" 39 : 743-749, 2003

11 M. T. Cychowski, "Efficient real-time model predictive control of the drive system with elastic transmission" 4 (4): 37-49, 2010

12 H. Sira-Ramirez, "Dynamical sliding mode control approach for vertical flight regulation in helicopters" 19-24, 1994

13 I. Postlethwaite, "Design and flight testing of various h-infinity controllers for the Bell 205 helicopter" 13 (13): 383-398, 2005

14 A. Grancharova, "Design and comparison of explicit model predictive controllers for an electropneumatic clutch actuator using On/Off valves" 16 (16): 665-673, 2011

15 T. A. Johansen, "Approximate explicit constrained linear model predictive control via orthogonal search tree" 48 (48): 810-815, 2003

16 Quanser Inc., "3-DOF Helicopter User Manual"

17 Quanser Inc., "3-DOF Helicopter Laboratory Manual"