Guidance and Model Predictive Control of a Tandem-rotor Helicopter

Released on by Faraaz Ahmed
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  • Guidance and Model Predictive Control of a Tandem-rotor Helicopter Book Detail

  • Author : Faraaz Ahmed
  • Release Date : 2022
  • Publisher :
  • Genre :
  • Pages : 0
  • ISBN 13 :
  • File Size : 24,24 MB
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Guidance and Model Predictive Control of a Tandem-rotor Helicopter by Faraaz Ahmed PDF Summary

Book Description: "The tandem-rotor helicopter is a platform of increased interest for autonomous development. This thesis considers the guidance and model predictive control (MPC) of a tandem- rotor helicopter. First, the dynamics of the tandem-rotor system are developed and a simplified dynamic model is presented. An error definition is formulated using the matrix Lie group SE2(3), which is used to linearize the system. Next, a computationally simple, two-stage guidance strategy is presented. A coarse reference trajectory to a target is calculated using a quartic guidance law, leveraging the differentially flat properties of the system. The trajectory is then refined using a finite-horizon linear quadratic regulator (LQR). To control the system, an MPC strategy is selected for its ability to directly incorporate constraints. The nonlinear system is linearized about the reference trajectory enabling the formulation of a quadratic program (QP) with control input and state constraints. A novel method of constraining the attitude is developed through the use of a linearized attitude keep-in zone and an l1-norm constraint on the attitude error. A non-uniformly spaced prediction horizon is leveraged in the MPC formulation to capture the multi-timescale vehicle dynamics while keeping the problem size tractable. Monte-Carlo simulations are performed to demonstrate the robustness of the proposed guidance and control structure to random initial conditions, model uncertainty, and environmental disturbances. Lastly, a cascaded MPC approach is considered as an alternative control strategy with a smaller computational footprint. Further Monte-Carlo simulations are carried out to compare the performance of the cascaded MPC approach with the single MPC structure"--

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