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Model Predictive Control System Design for a Small Scale Autonomous Helicopter

Endra Joelianto, Agus Budiyono


The paper investigates the application of the well known model predictive control (MPC) for tracking control of a small scale helicopter flying profile with multiple linearised mathematical models. To simplify the tracking control design with MPC, the required flight profile is generated by the modes of the multiple models in order to fulfill the perfect tracking requirement. Results showed that the MPC handles well the transition problems between the models, yields satisfied tracking control performance and produces suitable control signal. Simulation results also showed that faster dynamics, coupling problems, input and output constraints and changing linearised multi inputs multi outputs dynamics models in the small scale helicopter can be carried out simultaneously by the MPC controller.

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