Helicopter control by nonlinear model predictive control with constraints

Context and relevance. The paper presents the controller synthesis problem for a helicopter moving under constraints. Helicopter dynamics is described by 6 DoF model that is complimented by the measurement equations. The problem is being solved supposing that the hard control constraints are imposed to specify technical characteristics of the controller. Objective. The goal is to find the control input to achieve a required target output over a finite time period. Hypothesis. Taking the non-linearity of the model and constraints into account affects the nature of transients and requires additional attention to setting system parameters. Methods and materials. To solve the problem, the method based on the Nonlinear Predictive Control Model with Successive Linearization (NMPC-SL) is proposed. Results. To analyze the effectiveness of the considered approach, series of computational calculations have been performed for the British multi-purpose helicopter Westland Lynx with two engines. Conclusions. The developed algorithm has demonstrated its effectiveness for solving the problem, provided that the individual system parameters are properly configured.