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Main Title: Model Predictive Control for a Small Scale Unmanned Helicopter
Author(s): Du, Jianfu
Kondak, Konstantin
Bernard, Markus
Zhang, Yaou
Lü, Tiansheng
Hommel, Günter
Type: Article
Language Code: en
Abstract: Kinematical and dynamical equations of a small scale unmanned helicoper are presented in the paper. Based on these equations a model predictive control (MPC) method is proposed for controlling the helicopter. This novel method allows the direct accounting for the existing time delays which are used to model the dynamics of actuators and aerodynamics of the main rotor. Also the limits of the actuators are taken into the considerations during the controller design. The proposed control algorithm was verified in real flight experiments where good perfomance was shown in postion control mode.
Issue Date: 2008
Date Available: 19-Dec-2018
DDC Class: 620 Ingenieurwissenschaften und zugeordnete Tätigkeiten
Subject(s): MPC
unmmaned helicopter
flight control
helicopter modeling
Journal Title: International Journal of Advanced Robotic Systems
Publisher: SAGE Publications
Publisher Place: Washington, DC
Volume: 5
Issue: 4
Publisher DOI: 10.5772/10583
Page Start: 433
Page End: 438
EISSN: 1729-8814
ISSN: 1729-8814
Appears in Collections:Inst. Technische Informatik und Mikroelektronik » Publications

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