Receding Horizon Control of a Linear Parameter Varying Model of the Raptor 50 Helicopter

This paper will examine the use of a Receding Horizon Control method to stabilize a 3 degree of freedom longitudinal model of the Thunder Tiger Raptor 50 V2 remote controlled helicopter. The longitudinal dynamics of the Raptor helicopter are implemented using a Linear Parameter Varying force model. Due to the issue of plant model uncertainty, the Receding Horizon Control implementation was formulated as a Linear Matrix Inequality Optimization Problem to introduce robustness to parameter variations in the model. By formulating the Receding Horizon Control problem as a Linear Matrix Inequality Optimization problem, the control solution is developed quickly. Nomenclature Dmr = diameter of main rotor Dtr = diameter of tail rotor fl = fuselage length fw = fuselage width GRmr = gear ratio of engine to main rotor GRtr = gear ratio of engine to tail rotor Ixx = rolling moment of inertia Iyy = pitching moment of inertia Izz = yawing moment of inertia L;M;N = body moments p;q;r = angular rates X;Y;Z = body forces xcg;ycg;zcg = center of gravity u;w;z = linear velocities