期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2008
卷号：5
期号：4
DOI：10.5772/10583
出版社：SAGE Publications
摘要：Kinematical and dynamical equations of a small scale unmanned helicoper are presented in the paper. Based on these equations a model predictive control (MPC) method is proposed for controlling the helicopter. This novel method allows the direct accounting for the existing time delays which are used to model the dynamics of actuators and aerodynamics of the main rotor. Also the limits of the actuators are taken into the considerations during the controller design. The proposed control algorithm was verified in real flight experiments where good perfomance was shown in postion control mode.
关键词：MPC ; unmmaned helicopter ; flight control ; helicopter modeling
