ACADSTAFF UGM
| Title | : | TrackingControlforHybridSystemofUnmannedSmallScaleHelicopterUsing Predictive Control |
| Author | : |
Prof. Dr. Salmah, M.Si. (2) |
| Date | : | 2013 |
| Keyword | : | Tracking of hybrid systems, unmanned small scale helicopter, piecewise affine system, mixed logical dynamic systems, model predictive control Tracking of hybrid systems, unmanned small scale helicopter, piecewise affine system, mixed logical dynamic systems, model predictive control |
| Abstract | : | In this paper, we formulate a hybrid model in the piecewise affine )PWA) forms of unmanned small scal e helicopter (Yamaha R-50). This hybrid model is generated by the location of this unmanned serial vehicle (UAV) which has two modes. Then we design the controller using model predictive control (MPC) so that this UAV flight by tracking some trajectory. Firstly, we write the hybrid model of the UAV as a PWA then transform it into MLD model using hybrid system description language (HYSDEL) that was integrated with MATLAB. By using the MLD model, the optimal control problem for tracking purpose can be solved by MPC. Finally, we simulate this UAV and its controller to track some trajectory. From the simulation resilts, the unmanned small scale helicopter follows given trajectory well. |
| Group of Knowledge | : | Matematika |
| Level | : | Internasional |
| Status | : |
Published
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