Nonlinear Predictive Decoupling Control of Rotorcraft UAV Using Serial Decoupling Method

Abstract

A predictive decoupling control algorithm using serial decoupling method is proposed to control Rotorcraft UAV(RUAV). The dynamic model of the RUAV is decoupled into two sub-systems with serial relation. Two model predictive control(MPC) controllers are designed separately for the two sub-systems, and the serial relation is established between them by optimal control sequence. The stability of the proposed serial predictive decoupling control algorithm is proved. The benefit of the proposed algorithm is that the calculation burden of the MPC controllers of decoupled sub-systems is much less than that of the high-dimensional nonlinear model before decoupling. Moreover, the optimality of the MPC controllers of decoupled sub-systems is greatly improved since the coupling effect is eliminated. Experiments are done to verify the effectiveness and feasibility of the proposed algorithm, and the results show that the proposed algorithm is feasible and effective for the flight control of the RUAV.