Tracking control for hybrid system of unmanned small scale helicopter using predictive control

In this paper, we formulate the hybrid dynamic of unmanned small scale helicopter (Yamaha R-50) as piecewise affine (PWA) model and transform it into equivalent mixed logical dynamic (MLD) model using hybrid system description language (HYSDEL) integrated with hybrid toolbox for MATLAB. This hybrid model is triggered by the location of this unmanned aerial vehicle (UAV) which has two modes. By using the MLD model, we design the controller using model predictive control (MPC) to calculate the optimal control action so that this UAV flights and tracks a trajectory. Finally, we simulate this UAV and its controller to track a rectangular trajectory. From the simulation results, this unmanned small scale helicopter follows given trajectory very well.