Model predictive control of 2DOF helicopter
نویسندگان
چکیده
This paper deals with model predictive control (MPC) approach for a 2 DOF (degree of freedom) helicopter. The main objective is to stabilize beam of the 2DOF helicopter with respect to pitch and yaw angles. Development of controller for 2DOF helicopter is challenging because of its coupling effects between two axes and also due to its highly nonlinear characteristics. An accurate model of the system is developed first which has a similar response to that of the real plant. This model is used as a reference to design a non-linear MPC for 2 DOF helicopter. The 2DOF helicopter can also be referred as TRMS (twin rotor MIMO system) because it has two rotor each at its head and tail. Irrespective of variations in reference signals and speed, the controller has a good response in terms of accuracy.
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