论文标题
模型预测控制串联旋转直升机，其间隔不均匀的预测范围
Model Predictive Control of a Tandem-Rotor Helicopter With a Nonuniformly Spaced Prediction Horizon
论文作者
论文摘要
该字母认为串联直升机的模型预测控制。该错误是使用矩阵Lie Group $ SE_2（3）$制定的。使用四分之一的引导定律计算了对目标的参考轨迹，利用系统的差异性特性，并使用有限的匹配线性二次调节器进行了完善。非线性系统对参考轨迹进行线性性，从而实现具有控制输入，态度保留区域和态度错误约束的二次程序的公式。利用不均匀间隔的预测范围来捕获多时间尺度的动力学，同时保持问题大小可进行。蒙特 - 卡洛模拟证明了拟议的控制结构对初始条件，模型不确定性和环境干扰的鲁棒性。
This letter considers model predictive control of a tandem-rotor helicopter. The error is formulated using the matrix Lie group $SE_2(3)$. A reference trajectory to a target is calculated using a quartic guidance law, leveraging the differentially flat properties of the system, and refined using a finite-horizon linear quadratic regulator. The nonlinear system is linearized about the reference trajectory enabling the formulation of a quadratic program with control input, attitude keep-in zone, and attitude error constraints. A non-uniformly spaced prediction horizon is leveraged to capture the multi-timescale dynamics while keeping the problem size tractable. Monte-Carlo simulations demonstrate robustness of the proposed control structure to initial conditions, model uncertainty, and environmental disturbances.
