| Summary: | Constraints are widely present in the flight control problems: actuators saturations or flight
envelope limitations are only some examples of that. The ability of Model Predictive
Control (MPC) of dealing with the constraints joined with the increased computational
power of modern calculators makes this approach attractive also for fast dynamics
systems such as agile air vehicles.
This PhD thesis presents the results, achieved at the Aerospace Engineering Department
of the University of Bologna in collaboration with the Dutch National Aerospace
Laboratories (NLR), concerning the development of a model predictive control system for
small scale rotorcraft UAS.
Several different predictive architectures have been evaluated and tested by means of
simulation, as a result of this analysis the most promising one has been used to implement
three different control systems: a Stability and Control Augmentation System, a trajectory
tracking and a path following system.
The systems have been compared with a corresponding baseline controller and showed
several advantages in terms of performance, stability and robustness.
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