Abstract：As for the trajectory tracking problem of unmanned helicopters impacted by the disturbances, a composite nonlinear model predictive control scheme based on a harmonic observer is proposed. Firstly, the trajectory tracking problem is transformed into the tracking problems of position and attitude commands. And then, a harmonic disturbance observer is designed to estimate the periodic disturbances. The composite nonlinear model predictive controller is designed based on the nonlinear model predictive control algorithm
combining estimation information. Finally, the proposed scheme is tested on a practical small-scaled helicopter under the simulation environment of MATLAB. The simulation results indicate that the proposed scheme not only achieves effective suppression of periodic disturbances, but also guarantees the high-precision trajectory tracking of unmanned helicopters.
王可新,赵振华,赵天行,曹东. 基于谐波观测器的无人直升机复合非线性模型预测控制[J]. 指挥与控制学报, 2024, 10(5): 534-542.
WANG Kexin，ZHAO Zhenhua，ZHAO Tianxing，CAO Dong. Composite Nonlinear Model Predictive Control Based on Harmonic Observer for Unmanned Helicopters. Journal of Command and Control, 2024, 10(5): 534-542.
2024, Vol. 10 
