Helicopter control by nonlinear model predictive control with constraints

<p><strong>Context and relevance.</strong> The paper presents the controller synthesis problem for a helicopter moving under constraints. Helicopter dynamics is described by 6 DoF model that is complimented by the measurement equations. The problem is being solved supposing that the hard control constraints are imposed to specify technical characteristics of the controller. <strong>Objective.</strong> The goal is to find the control input to achieve a required target output over a finite time period. <strong>Hypothesis.</strong> Taking the non-linearity of the model and constraints into account affects the nature of transients and requires additional attention to setting system parameters. <strong>Methods and materials.</strong> To solve the problem, the method based on the Nonlinear Predictive Control Model with Successive Linearization (NMPC-SL) is proposed. <strong>Results.</strong> To analyze the effectiveness of the considered approach, series of computational calculations have been performed for the British multi-purpose helicopter Westland Lynx with two engines. <strong>Conclusions.</strong> The developed algorithm has demonstrated its effectiveness for solving the problem, provided that the individual system parameters are properly configured.</p>