Helicopter systems are characterized by highly nonlinear dynamics, multiple operating regions, and significant interaction among state variables. In this paper, an observer based model predictive control (MPC) scheme with successive linearization is presented, for a 3 degree of freedom (DOF) helicopter system. All control simulations were performed under the conditions of noisy measurements. To illustrate the advantage by using unscented Kalman filter (UKF) as the observer, the performance of UKF based MPC is compared with those of MPC algorithms using linear filters and extended Kalman filter (EKF). The simulation results have shown that for this application the UKF-based MPC has superior performance, in terms of the disturbance rejection and set-point tracking.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Robust Observer Based Model Predictive Control of a 3-DOF Helicopter System


    Beteiligte:
    Zhai, Yujia (Autor:in)


    Erscheinungsdatum :

    2013


    Format / Umfang :

    12 Seiten





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Print


    Sprache :

    Englisch




    Robust disturbance observer-based control of unmanned helicopter

    Spiller, Mark / Ehlert, Tobias / Kleinhans, Frauke et al. | Springer Verlag | 2025

    Freier Zugriff

    Robust disturbance observer-based control of unmanned helicopter

    Spiller, Mark / Ehlert, Tobias / Kleinhans, Frauke et al. | Springer Verlag | 2025

    Freier Zugriff

    Robust Model Predictive Control Method Based on State Observer

    Wang, W. / Yang, J.-j. / Lu, B. | British Library Online Contents | 2001