Trajectory tracking for mini unmanned helicopter using DMC

Abstract

Abstract: Mini Unmanned Helicopter（MUH） is a kind of motion object with modeling uncertainties. The request of accurate control and good dynamic performance posts a great challenge to trajectory tracking. Dynamic Matrix Control（DMC） strategy is introduced to meet the request of trajectory tracking for MUH. After stabilizing of the system, a DMC controller is designed. The hardware-in-the-loop simulation results prove that this method is very efficient.

Key words: Mini Unmanned Helicopter（MUH）, model predictive control, Dynamic Matrix Control（DMC）, trajectory tracking

摘要： 微小型无人直升机的航迹跟踪需要在克服模型不确定性的同时保持良好的控制精度和动态性能。提出了航迹跟踪的动态矩阵控制（DMC）方法，通过在线优化、反馈校正抑制不确定性的影响。将系统经姿态环和速度环镇定后作为广义对象，设计了DMC控制器，并对DMC参数进行了整定。半实物仿真实验证明，采用DMC方法后，系统具有较好的动态响应，航迹跟踪效果明显改善。

关键词: 微小型无人直升机, 模型预测控制, 动态矩阵控制（DMC）, 航迹跟踪

YUN Zhaojie, HAN Bo, SHEN Xing, LI Ping. Trajectory tracking for mini unmanned helicopter using DMC[J]. Computer Engineering and Applications, 2012, 48(17): 215-219.

云昭洁，韩波，申星，李平. 基于DMC的微小型无人直升机航迹跟踪[J]. 计算机工程与应用, 2012, 48(17): 215-219.

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Trajectory tracking for mini unmanned helicopter using DMC

基于DMC的微小型无人直升机航迹跟踪

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