Reference Governor for Flight Envelope Protection in an Autonomous Helicopter using Model Predictive Control
In this master’s thesis we study how Model Predictive Control (MPC) can be ﬁtted into an existing control system to handle state constraints. We suggest the use of reference governing based on the predictive control methodology. The platform for the survey is Saabs unmanned helicopter Skeldar. We develop and investigate diﬀerent Reference Governor(RG) formulations that can be used together with the already existing stabilizing control system. These diﬀerent setups show various features regarding model predictive control. One setup is complemented with a pre-ﬁlter to prevent aggressive actuator control in response to set-point changes, while the other is developed to handle this in the MPC framework. We also show that one of these RGs can be extended to guarantee stability and convergence.
Implementation and real time requirements are also considered in this thesis. For this two diﬀerent QP-solvers have been used for online solving of the optimization problem that arises from the MPC formulations. For evaluation and analysis the solutions are implemented in an advanced simulation environment developed at Saab and in a hardware-in-the-loop avionics test rig for the Skeldar system.
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