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Application of predictive control to a toy helicopter

Balderud, J. and Wilson, D. (2002) Application of predictive control to a toy helicopter. In: IEEE International Conference on Control Applications, 2002-09-18 - 2002-09-20.

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Abstract

A toy helicopter makes for an impressive classroom control demonstration. However the challenge to obtain a robust, stable, multivariable controller is nontrivial given the nonlinear nature of the helicopter, the stochastic nature of the disturbances, and the performance limitations of PCs. This paper applies a model predictive controller using the Mathworks xPC target to obtain significantly improved results over that achievable using classical control algorithms.