Move blocking Model Predictive Control of a helicopter with three degrees of freedom

2020 ◽  
Author(s):  
Rogério Toniere Giovanelli ◽  
Rubens Junqueira Magalhães Afonso
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Degrees Of Freedom ◽  
Stable Region ◽  
Linear Matrix ◽  
Feedback Gain ◽  
Control Law ◽  
Matrix Inequalities ◽  
Blocking Algorithm ◽  
Three Degrees Of Freedom

This work presents the use of a move blocking algorithm in the Model Predictive Control (MPC) of a helicopter with three degrees of freedom (3DoF). Considerations about the feasibility of the MPC solutions and robustness of the control law are developed to propose an internal feedback gain array using Linear Matrix Inequalities (LMIs). The objective of this structure is to grant adjustment  exibility of the plant dynamics through a D-stable region and to reduce the computational complexity of the problem.

scholarly journals Robust Output Model Predictive Control of an Unstable Rijke Tube

2012 ◽  
Vol 2012 ◽  
pp. 1-11 ◽  
Author(s):  
Fabian Jarmolowitz ◽  
Christopher Groß-Weege ◽  
Thomas Lammersen ◽  
Dirk Abel
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
State Feedback ◽  
Linear Matrix ◽  
Matrix Inequalities ◽  
Rijke Tube ◽  
Guaranteed Stability ◽  
Predictive Controller ◽  
Linear State ◽  
Gain Scheduled

This work investigates the active control of an unstable Rijke tube using robust output model predictive control (RMPC). As internal model a polytopic linear system with constraints is assumed to account for uncertainties. For guaranteed stability, a linear state feedback controller is designed using linear matrix inequalities and used within a feedback formulation of the model predictive controller. For state estimation a robust gain-scheduled observer is developed. It is shown that the proposed RMPC ensures robust stability under constraints over the considered operating range.

Tube-model predictive control based on sum of squares for hypersonic vehicle with state-dependent input constraints

2021 ◽  
pp. 014233122110465
Author(s):  
Xiaohe Yang ◽  
Weijie Lv ◽  
Chaofang Hu ◽  
Yongtai Hu
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Feedback Linearization ◽  
Convex Combination ◽  
Sum Of Squares ◽  
Linear Matrix ◽  
Control Law ◽  
Tube Model ◽  
Input Constraints ◽  
State Dependent

In this paper, tube-model predictive control based on the sum of squares technique is developed for hypersonic vehicles with state-dependent input constraints. Firstly, the longitudinal non-linear model in the presence of uncertain parameters is transformed into the polytopic linear parameter varying model with bounded disturbance by feedback linearization. Then the actual input constraints are converted to the virtual state-dependent input constraints in linear multivariable polynomial. A composite feedback control law based on tube-model predictive control is designed into a convex combination of unconstrained and constrained control. The real control law can be obtained by inversion. The sum of squares technique is used to transform the polynomial constraints into the convex matrix sum of squares condition via linear matrix inequality. Finally, simulation results verify the effectiveness of the proposed controller.

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