TY - GEN
T1 - Offset-Free Model Predictive Control of a Twin Rotor MIMO System (Extended Abstract)
AU - Ebirim, Kelechi
AU - Lecchini-Visintini, Andrea
AU - Rubagotti, Matteo
AU - Prempain, Emmanuel
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - The offset-free control of a nonlinear twin rotor MIMO system (TRMS) is challenging because of its dynamic cross-couplings. Offset-free model predictive control (MPC) strategies in the literature favour the use of a disturbance model, dependent on an observer for the estimation of some states, and a cost function that penalises the output error and control increment. We propose an alternative strategy with experimental validation, using a complete dynamic TRMS model and a cost function which penalises the states and control action, and we compare this with a baseline linear quadratic regulator (LQR) approach. Simulation results show satisfactory tracking in favour of MPC as input rate constraints are tightened.
AB - The offset-free control of a nonlinear twin rotor MIMO system (TRMS) is challenging because of its dynamic cross-couplings. Offset-free model predictive control (MPC) strategies in the literature favour the use of a disturbance model, dependent on an observer for the estimation of some states, and a cost function that penalises the output error and control increment. We propose an alternative strategy with experimental validation, using a complete dynamic TRMS model and a cost function which penalises the states and control action, and we compare this with a baseline linear quadratic regulator (LQR) approach. Simulation results show satisfactory tracking in favour of MPC as input rate constraints are tightened.
KW - Model Predictive Control
KW - Optimal Control
KW - Twin-Rotor-Multivariable-System
UR - http://www.scopus.com/inward/record.url?scp=85132257946&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85132257946&partnerID=8YFLogxK
U2 - 10.1109/Control55989.2022.9781370
DO - 10.1109/Control55989.2022.9781370
M3 - Conference contribution
AN - SCOPUS:85132257946
T3 - 2022 13th UKACC International Conference on Control, CONTROL 2022
SP - 114
EP - 115
BT - 2022 13th UKACC International Conference on Control, CONTROL 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th UKACC International Conference on Control, CONTROL 2022
Y2 - 20 April 2022 through 22 April 2022
ER -