
Saunder January 22, 2014 10:43 K15053˙Book
Disturbance Rejection for Small-Scale Helicopters 253
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Reference ENMPC+DOBC ENMPC
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Figure 14.4 Eight-shape tracking.
The test result is given in Figure 14.7. In the test, the helicopter was first under
the control of ENMPC to perform take-off and hovering. It can be seen that the
ENMPC stabilized the helicopter but with a steady-state error due to the mismatch
between the model used for ENMPC design and the real helicopter dynamics. After
25 seconds, the disturbance observer switched on and the composite ...