Constrained Model Predictive Control With Integral Action for Twin Rotor MIMO Systems

Ebirim K.U. Lecchini-Visintini A. Rubagotti M. Prempain E.
1 August 2023 American Society of Mechanical Engineers (ASME)

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
2023 #145 Issue 8

This paper describes the design and successful implementation of a constrained model predictive controller with integral action for the control of a Twin Rotor MIMO System (TRMS). The integral action guarantees zero steady-state error in set-point tracking with robustness toward perturbations of the nominal system parameters. In addition to saturation constraints on the input variables, hard constraints are imposed on the controlled output variables, i.e., on pitch and yaw angular positions, to avoid collisions with obstacles. The model predictive controller was designed using a high-fidelity nonlinear model of the TRMS developed in previous work. As an intermediate step, exact linearized models of the TRMS are obtained and their closed-form expressions are reported. The controller was tested experimentally, also showing its effectiveness in ensuring actual collision avoidance by the TRMS when physical obstacles were present. Copyright

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School of Engineering, University of Leicester, University Road, Leicester, LE1 7RH, United Kingdom
School of Electronics and Computer Science, University of Southampton, University Road, Southampton, SO17 1BJ, United Kingdom
Department of Robotics and Mechatronics, School of Engineering and Digital Sciences, Nazarbayev University, Astana, 010000, Kazakhstan

School of Engineering
School of Electronics and Computer Science
Department of Robotics and Mechatronics

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