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Title: Piecewise constant model predictive control for autonomous helicopters
Authors: Liu, Cunjia
Chen, Wen-Hua
Andrews, J.D.
Keywords: Model predictive control
Autonomous flight
Flight test
Issue Date: 2011
Publisher: © Elsevier
Citation: LIU, C., CHEN, W-H and ANDREWS, J.D., 2011. Piecewise constant model predictive control for autonomous helicopters. Robotics and Autonomous Systems, 59 (7-8), pp. 571 - 579
Abstract: This paper introduces an optimisation based control framework for autonomous helicopters. The framework contains a high-level model predictive control (MPC) and a low-level linear controller. The proposed MPC works in a piecewise constant fashion to reduce the computation burden and to increase the time available for performing online optimisation. The linear feedback controller responds to fast dynamics of the helicopter and compensates the low bandwidth of the high-level controller. This configuration allows the computationally intensive algorithm applied on systems with fast dynamics. The stability issues of the high-level MPC and the overall control scheme are discussed. Simulations and flight tests on a small-scale helicopter are carried out to verify the proposed control scheme.
Description: This article was published in the journal, Robotics and Autonomous Systems [© Elsevier]. The definitive version is available at: http://dx.doi.org/10.1016/j.robot.2011.04.004
Version: Accepted for publication
DOI: 10.1016/j.robot.2011.04.004
URI: https://dspace.lboro.ac.uk/2134/11159
Publisher Link: http://dx.doi.org/10.1016/j.robot.2011.04.004
ISSN: 0921-8890
Appears in Collections:Published Articles (Aeronautical and Automotive Engineering)

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