Adaptive model predictive control design using multiple model second level adaptation for parameter estimation of two‐degree freedom of helicopter model

Abstract

AbstractThis paper proposed an adaptive nonlinear model predictive control approach for a 2‐DoF helicopter model with both parametric uncertainties and input–output constraints. In the proposed control technique, the nonlinear helicopter model is linearized along the prediction horizon using a state and parameter‐dependent state‐space model. Furthermore, a linear quadratic objective function with constraints is carried out using the developed linearized model. Here, the multiple estimation model and the concept of second‐level adaptation are used to handle the parametric uncertainty of the nonlinear system. To ensure the boundedness of the estimated parameter within a predefined compact region, a projection based adaptive law is used. The adaptive tuning laws for the unknown parameters are derived by Lyapunov stability analysis. An ensemble Kalman filter has been used to observe the unavailable states of the 2‐DoF helicopter model. The effectiveness of the proposed control algorithm has been verified successfully in simulation as well as real‐time experimental setup of 2‐DoF of helicopter model and results are documented in tabular form to show superiority with an existing approach.