Nonaffine Helicopter Control Design and Implementation Based on a Robust Explicit Nonlinear Model Predictive Control
Abstract
Control design for a helicopter is a challenging problem because of its nonaffine inputs, its underactuated characteristics, and highly coupled dynamics. To solve a control problem of the helicopter under model uncertainties and disturbance present environments, an explicit nonlinear model predictive control (ENMPC), a dynamic inversion (DI), and an extended high-gain observer (EHGO) are combined in a multi-time-scale fashion. The multi-time-scale scaled structure and the ENMPC provide the framework of the control design, the DI deals with nonaffine control inputs, and the EHGO estimates the unmeasured system states and uncertainties. The proposed control design is discretized to be implemented on a small-scale helicopter. The successful outdoor experiments with the proposed control implemented on autopilot hardware demonstrate the validity of our approach in the presence of model uncertainties and wind disturbances.
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A robust MPC was proposed for a helicopter where an extended high-gain observer estimates model uncertainties and disturbances, but the nominal mathematical model is required.
“A robust MPC was proposed for a helicopter in [20] where an extended high-gain observer estimates model uncertainties and disturbances. However, the nominal mathematical model is required.”
From Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator (2022) · cites this paper as [20]
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Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator
Wang, Y., Leibold, M., Lee, J., Ye, W., Xie, J., & Buss, M. (2022) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2022.3142629 · Cited by 52 · see citing works
Self-citation
- Authors
- Seo, J., Lee, S., Lee, J., & Choi, J.
- Affiliations
- Yonsei University (KR)
- General Motors (United States) (US)
- Venue
- IEEE Transactions on Control Systems Technology
- Published
- 2022-03
- Volume
- 30
- Issue
- 2
- Pages
- 811-818
- ISSN
- 1063-6536 (ISSN-L)
- 1558-0865
- 2374-0159
- OpenAlex
- W3156105890
- Cited by
- 28
- References
- 29
- Citations by year
- 2026: 5 · 2025: 4 · 2024: 3 · 2023: 7 · 2022: 7 · 2021: 2
- FWCI
- 2.12
- Type
- journal article
- Language
- en
- Open access
- closed
- Licence
- Locations
- IEEE Transactions on Control Systems Technology (publishedVersion)
- Funders
- National Research Foundation of Korea
- Korean Government (2021R1A2B5B01002620)
- Ministry of Culture, Sports and Tourism
- Korea Creative Content Agency (KOCCA) through the Culture Technology (CT) Research and Development Program 2019 (R2019020038)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Advanced Control Systems Optimization
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Aerospace Engineering › Aerospace Engineering and Control Systems
- Keywords
- helicopter flight control, dynamic inversion, extended high-gain observer, multi-timescale control, underactuated systems, state and disturbance estimation, model uncertainty, wind disturbance, autopilot
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