An MPC-based position controller for a tilt-rotor tricopter VTOL UAV
Date of Issue2018
School of Mechanical and Aerospace Engineering
This study presents a novel framework, namely, the fusion of a conventional controller and a linear model predictive controller, for the position control of a tilt-rotor tricopter. While the conventional controller in the outer loop is responsible for the position control, the inner-loop model predictive control–based controller handles the angular dynamics and vertical body velocity. Furthermore, a novel control allocation algorithm for the proposed controller is introduced. In addition, this study also covers mathematical modeling and trim analysis of the tilt-rotor tricopter dynamics. An evaluation of the designed control system is accomplished with a nonlinear 6-degree-of-freedom simulation model of the tilt-rotor tricopter in which realistic actuator limitations are considered. The efficiency of the proposed control algorithm is elaborated for a trajectory tracking problem where basic surveillance operation is considered. The simulation results show that the proposed model predictive controller is able to provide a satisfactory trajectory tracking performance under the realistic actuator limits.
Model Predictive Control
Optimal Control Applications and Methods
© 2017 John Wiley & Sons Ltd. This is the author created version of a work that has been peer reviewed and accepted for publication by Optimal Control Applications and Methods, John Wiley & Sons Ltd. It incorporates referee’s comments but changes resulting from the publishing process, such as copyediting, structural formatting, may not be reflected in this document. The published version is available at: [http://dx.doi.org/10.1002/oca.2350].