Tham khảo tài liệu 'advanced model predictive control part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Predictive Control for Active Model and its Applications on Unmanned Helicopters 259 To verify the accuracy of the estimate of the model error described in the following experiment is designed 1. Actuate the longitudinal control loop to keep the speed more than 5 meter per second 2. Get the lateral model error value and boundaries through ASMF and add them to the hovering model we built above 3. Compare the model output before and after compensation for model error. This process of experiment can be described by and the results are shown in . shows that model output red line cannot describe the cruising dynamics due to the model error when mode-change similar with however after compensation shown in the model output red line is very close with real cruising dynamics blue line and the uncertain boundaries can include the changing lateral speed which mean that the proposed estimation method can obtain the model error and range accurately by ASMF when mode-change. Fig. 4. The experiment process for model-error estimate Sampling Time a Fig. 5. Model output before after compensation a before compensation b after compensation Sampling Point b 260 Advanced Model Predictive Control Flight experiment for the comparison of GPC SIPC and AMSIPC when sudden mode-change In Section the model-error occurrence and the accuracy of the proposed method for estimation are verified. So the next is the performance of the proposed controller in real flight. In this section the performance of the modified GPC Generalized Predictive Control designed in Section SIPC Stationary Increment Predictive Control designed in Section and AMSIPC Active Modeling Based Stationary Increment Predictive Control designed in Section are tested in sudden mode-change and are compared with each other on the ServoHeli-40 test-bed. To complete this mission the following experimental process is designed 1. Using large and step-like reference velocity red .
