Analytical Design of Optimal Model Predictive Control and Its Application in Small-Scale Helicopters

A new method for controlling the position and speed of a small-scale helicopter based on optimal model predictive control is presented in this paper. In the proposed method, the homotopy perturbation technique is used to analytically solve the optimization problem and, as a result, to find the control signal. To assess the proposed method, a small-scale helicopter system is modeled and controlled using the proposed method. The proposed method has been investigated under different conditions and its results have been compared with the conventional predictive control method. The simulation results show that the proposed technique is highly proficient in the face of various uncertainties and disturbances, and can quickly return the helicopter to its path.

Automated summary

This paper presents a new method for controlling the position and speed of a small-scale helicopter based on optimal model predictive control. The proposed method uses the homotopy perturbation technique to analytically solve the optimization problem and find the control signal. The method has been tested on a small-scale helicopter system and compared with conventional predictive control method, showing high proficiency in dealing with uncertainties and disturbances.