Model Predictive Control with Application to a Small-Scale Unmanned Helicopter

摘要

Unmanned Helicopters are hard to control because of their nonlinear dynamic model and the constraints on actuators and outputs. Generally, PID, LQR, NN etc. is hard to handle the constraints problem. This paper presents a novel control method, model predictive control, which can deal with the input and output saturation constraints well for unmanned helicopters. The final results show that model predictive controller works well on the control of roll and pitch axes. It reduces the settling time and maximum overshoot and performs good stability and robustness comparing with PID controller.