Embedded Model Predictive Control of a 2DOF Helicopter
José Genario de Oliveira Júnior1; Fernando dos Santos Barbosa1; Bruno Augusto Angélico1; Claudio Garcia1
1 Escola Politécnica da USP
Resumo
It is presented the implementation of a Discrete Finite Horizon Model Predictive Control (MPC) into a 2DOF Helicopter prototype, which makes use of incremental state-space model of the helicopter. The resultant controller is completely embedded in a NXPT FRDM-K64F development platform. Satisfactory reference tracking capability is presented with experimental results.