MPC and LQR type controller design and comparison for an unmanned helicopter

Semuel Franko*, Ilker M. Koç, Can Özsoy, Nurşen Sari

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Citations (Scopus)

Abstract

For the control of unmanned helicopter, different controllers have been designed in the literature. Model Predictive Control (MPC) was used in process industry for years. But its application to helicopters is new. In this study, six degrees of freedom nonlinear dynamical model of unmanned helicopter is used to control the translatory velocities and angular displacements. Additionally, two different controllers based on MPC and LQR (Linear Quadratic Control) are designed and numerically tested on the open loop unstable helicopter model. Simulation scenarios with different starting conditions are studied in detail and the outputs are compared. Results demonstrated that with equal or less control effort, MPC-type controller became more successful than LQR controller.

Original languageEnglish
Title of host publicationProceedings of the 2011 Summer Computer Simulation Conference
Pages138-144
Number of pages7
Publication statusPublished - 2011
Event2011 Summer Computer Simulation Conference, SCSC 2011 - The Hague, Netherlands
Duration: 27 Jun 201130 Jun 2011

Publication series

NameProceedings of the 2011 Summer Computer Simulation Conference

Conference

Conference2011 Summer Computer Simulation Conference, SCSC 2011
Country/TerritoryNetherlands
CityThe Hague
Period27/06/1130/06/11

Keywords

  • Autonomous vehicles
  • Helicopter control
  • LQR control method
  • Predictive control
  • UAV

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