Input constrained hover control with receding horizon LQR for disturbed TRMS

The paper proposes an approach to design optimal receding horizon controller for tracking control a TRMS (twin rotor multiple input multiple output system), which is a nonlinear system with two degrees of freedom, cross couplings and perturbed additionally by system disturbances. On the contrary to all other MPC controllers, which use consistently a finite horizon and discrete time model of controlled object, the here proposed controller uses an infinite horizon and continuous time nonlinear model. Hence it always guarantees the adaptive tracking stability of obtained closed loop systems in real time, without using an additional penalty function in objective function as usual. The obtained simulation results by using this controller have confirmed its promising applicability in practice.