Proportional-integral-derivative attitude control subject to dynamic rate saturation of elevator through explicit command reshaping: An engineering approach

摘要

In this article, an explicit pitch command governor for a kind of proportional-integral-derivative attitude control system is proposed based on the model predictive control philosophy to avoid the dynamic rate saturation in the elevator. In this command governor, the control horizon of the model predictive controller is selected as 1 such that the predicted saturations can be represented by a set of linear inequalities, which can significantly reduce the computational complexity, and the optimal solution can be calculated in real-time. The effectiveness of the proposed method is validated via numerical simulations. In addition, the limitations of this pitch governor are also revealed through investigating its scope of application in terms of uncertainties, nonlinearities and coupling effects.