Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/143397
Title: Receding horizon control of a 3 DOF helicopter using online estimation of aerodynamic parameters
Authors: Mehndiratta, Mohit
Kayacan, Erdal
Keywords: Engineering::Mechanical engineering::Robots
Engineering::Mechanical engineering::Control engineering
Issue Date: 2018
Source: Mehndiratta, M., & Kayacan, E. (2018). Receding horizon control of a 3 DOF helicopter using online estimation of aerodynamic parameters. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 232(8), 1442-1453. doi:10.1177/0954410017703414
Journal: Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 
Abstract: This study presents a numerical implementation of fast nonlinear model predictive control (NMPC) and nonlinear moving horizon estimation (NMHE) for the trajectory tracking problem of a 3 degree of freedom (DOF) helicopter. The motivation behind using the NMPC instead of its linear counterpart is that the helicopter is operated over nonlinear regions. Moreover, this system has cross-couplings that make the control of the system even more complicated. What is more, according to our simulation scenario, the system has a time-varying dynamical model because it has time-varying parameters which are estimated online using NMHE and the extended Kalman filter (EKF) throughout the control. Although NMHE is computationally more demanding, its capability of incorporating the constraints encourages us to utilize NMHE rather than EKF. Two reference trajectories, namely, sinusoidal and square-like, are tracked, and owing to the better learning capability of NMHE over EKF, the NMPC-NMHE closed-loop control framework is able to track both reference signals with more accuracy than the NMPC-EKF control framework, even under parameter uncertainties. Thanks to the ACADO toolkit, the combined average execution time is 4 milliseconds, demonstrating the potential of the proposed framework for real-time aerospace applications using relatively cheaper processors.
URI: https://hdl.handle.net/10356/143397
ISSN: 0954-4100
DOI: 10.1177/0954410017703414
Rights: © 2018 Institution of Mechanical Engineers (IMechE). All rights reserved. This paper was published in Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering and is made available with permission of Institution of Mechanical Engineers (IMechE).
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Journal Articles

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