
Saunder January 22, 2014 10:43 K15053˙Book
238 Disturbance Observer-Based Control: Methods and Applications
14.3 Explicit Nonlinear MPC With Disturbances
Trajectory tracking is the basic function required when an autonomous helicopter
performs a task. To this end, we need to design a controller such that the output y(t)
of the helicopter (14.9) tracks the prescribed reference w(t). In the MPC strategy,
tracking control can be achieved by minimising a receding horizon performance
index
J =
1
2
T
0
(
ˆ
y(t + τ ) −w(t +τ))
T
Q(
ˆ
y(t + τ ) −w(t +τ))dτ (14.10)
where weighting matrix Q = diag{q
1
, q
2
, q
3
, q
4
}, q
i
> 0, i = 1, 2, 3, 4. Note that
the hatted variables belong ...