Output feedback control synthesis for a helicopter using explicit nonlinear model predictive control, dynamic inversion and extended high gain observers

Joohwan Seo, Jongeun Choi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Control design for a helicopter is a challenging problem because of its non-affine inputs, complicated dynamics and it is an under-actuated system. 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 and an Extended High-Gain Observers (EHGO) are combined in a multi-time-scale fashion. The multi-time scaled structrue and the ENMPC provides the framework of the control design, the dynamic inversion deals with nonaffine control inputs, and the EHGO estimates the unmeasured states and uncertainties. In addition, a discretization scheme using the saturation and adding low pass filters to the control inputs is presented. Finally, the numerical simulation of a fixed sampling period has been carried out to demonstrate the validity of the proposed multi-time-scale control design and the discretization scheme.

Original languageEnglish
Title of host publicationRapid Fire Interactive Presentations
Subtitle of host publicationAdvances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791859162
DOIs
Publication statusPublished - 2019
EventASME 2019 Dynamic Systems and Control Conference, DSCC 2019 - Park City, United States
Duration: 2019 Oct 82019 Oct 11

Publication series

NameASME 2019 Dynamic Systems and Control Conference, DSCC 2019
Volume3

Conference

ConferenceASME 2019 Dynamic Systems and Control Conference, DSCC 2019
CountryUnited States
CityPark City
Period19/10/819/10/11

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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    Seo, J., & Choi, J. (2019). Output feedback control synthesis for a helicopter using explicit nonlinear model predictive control, dynamic inversion and extended high gain observers. In Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles (ASME 2019 Dynamic Systems and Control Conference, DSCC 2019; Vol. 3). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2019-9036