Move blocking Model Predictive Control of a helicopter with three degrees of freedom

Rogério  Toniere Giovanelli; Rubens  Junqueira Magalhães Afonso

doi:10.48011/asba.v2i1.1484

Rogério Toniere Giovanelli Instituto Tecnológico de Aeronáutica / Embraer
Rubens Junqueira Magalhães Afonso Technical University of Munich / Instituto Tecnológico de Aeronáutica

DOI: https://doi.org/10.48011/asba.v2i1.1484

Keywords: Model predictive control, Move blocking, 3DoF helicopter, Linear matrix inequalities, D-stability

Abstract

This work presents the use of a move blocking algorithm in the Model Predictive Control (MPC) of a helicopter with three degrees of freedom (3DoF). Considerations about the feasibility of the MPC solutions and robustness of the control law are developed to propose an internal feedback gain array using Linear Matrix Inequalities (LMIs). The objective of this structure is to grant adjustment exibility of the plant dynamics through a D-stable region and to reduce the computational complexity of the problem.