Receding horizon control of a 3 DOF helicopter using online estimation of aerodynamic parameters

• Main Authors: Mehndiratta, Mohit, Kayacan, Erdal
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Mechanical engineering::Robots; Engineering::Mechanical engineering::Control engineering; Unmanned Aerial Vehicles; Quanser 3 Degree of Freedom Helicopter
• Online Access: https://hdl.handle.net/10356/143397
• Institution: Nanyang Technological University

This study presents a numerical implementation of fast nonlinear model predictive control (NMPC) and nonlinear moving horizon estimation (NMHE) for the trajectory tracking problem of a 3 degree of freedom (DOF) helicopter. The motivation behind using the NMPC instead of its linear counterpart is tha...