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The Strathprints institutional repository is a digital archive of University of Strathclyde's Open Access research outputs. Strathprints provides access to thousands of Open Access research papers by University of Strathclyde researchers, including by researchers from the Department of Computer & Information Sciences involved in mathematically structured programming, similarity and metric search, computer security, software systems, combinatronics and digital health.

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Non-linear predictive control of 2 DOF helicopter model

Dutka, A. and Ordys, A.W. and Grimble, M.J. (2003) Non-linear predictive control of 2 DOF helicopter model. In: 42nd IEEE Conference on Decision and Control 2003, 2003-12-09 - 2003-12-12.

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Abstract

This paper presents the application of non-linear predictive control algorithm to a helicopter model. First, the model of the helicopter is discussed. Next, the nonlinear algorithm is introduced which is based on state-space GPC controller. The non-linearity is handled by converting the state-dependent state-space representation into the linear time-varying representation. The predictions of the future controls are used to calculate predictions of the future states and of the future time varying system parameters. Applied to the helicopter model, the algorithm performs well. It is capable of the stabilizing the system for maneuvers for which it's linear counterpart fails.