Predictive control techniques have become widespread in industrial practice, mainly because of their ability to enforce constraints at the plant inputs and states. This project is concerned with the use of an infinite-horizon formulation for control of a helicopter with three degrees of freedom. For this purpose, a nonlinear simulation model developed in previous works will be employed. The investigation will be mainly concerned with the robustness of the control loop with respect to actuator faults, which will be modelled as alterations in the gain of the motors. The results will be evaluated, by means of simulations in the Matlab/Simulink environment, with regard to speed of response, damping of oscillations and satisfaction of state constraints.
News published in Agência FAPESP Newsletter about the scholarship: