Approximate model predictive control of a 3-DOF helicopter

Publikationstyp
Conference Paper
Date Issued
2007
Sprache
English
Author(s)
Witt, Jonas  
Boonto, Sudchai  
Werner, Herbert  
Institut
Regelungstechnik E-14  
TORE-URI
http://hdl.handle.net/11420/14882
Journal
Proceedings of the IEEE Conference on Decision & Control  
Start Page
4501
End Page
4506
Article Number
4434670
Citation
Proceedings of the IEEE Conference on Decision & Control: 4501-4506 (2007)
Contribution to Conference
46th IEEE Conference on Decision and Control, CDC 2007  
Publisher DOI
10.1109/CDC.2007.4434670
Scopus ID
2-s2.0-62749177975
Publisher
IEEE
This paper presents the design and experimental validation of a nonlinear multivariable predictive controller for an educational 3-DOF helicopter system. The control strategy - Approximate Predictive Control (APC) - is based on a neural network model of the nonlinear plant and its linearization in each sampling instant. The control input is generated using the linearized model and a GPC control law. For this application, a previously published APC approach has been extended to MIMO systems, and was modified by introducing model parameter filtering to achieve the required control performance. Experimental results demonstrate good tracking and disturbance rejection performance of the proposed method.
DDC Class
600: Technik
620: Ingenieurwissenschaften