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Reference Governor for Flight Envelope Protection in an Autonomous Helicopter using Model Predictive Control
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2014 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Referensövervakning för flygenvelopsskydd i en autonom helikopter via modellbaserad prediktionseglering (English)
Abstract [en]

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.

Place, publisher, year, edition, pages
2014. , 82 p.
Keyword [en]
MPC, UAV, RG, Model Predictive Control, Reference Governor, Skeldar, Flight Envelope Protection
Keyword [sv]
Modellbaserad prediktionsreglering, Referensövervakning, Flygenvelopsskydd
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-110462ISRN: LiTH-ISY-EX–14/4780–SEOAI: diva2:746342
External cooperation
SAAB Aeronautics
Subject / course
Automatic Control
Available from: 2014-09-12 Created: 2014-09-12 Last updated: 2014-09-15Bibliographically approved

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Automatic ControlThe Institute of Technology
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