Model predictive attitude-altitude control for a Miniature Coaxial Helicopter

Kostas Alexis, George Nikolakopoulos, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution


The aim of the work presented in this article is the design of a Model Predictive Control based on a Piecewise Linear modeling of the attitude and altitude motions of a Miniature Coaxial Helicopter that accounts for the physical and mechanical constraints of the system. Extended simulation studies present the efficiency of the proposed control scheme both in accurate rotational maneuvers, altitude tracking, and disturbance rejection.

Original languageEnglish (US)
Title of host publication7th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2010 - Proceedings
PublisherIFAC Secretariat
Number of pages6
EditionPART 1
ISBN (Print)9783902661876
StatePublished - 2010

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
ISSN (Print)1474-6670


  • Coaxial
  • Model predictive control
  • Rotorcraft
  • UAV

ASJC Scopus subject areas

  • Control and Systems Engineering


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