{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/95031"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/95031","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"Advanced Linear Model Predictive Control For Helicopter Shipboard Maneuvers","abstract":"This dissertation focuses on implementing and analyzing advanced methods of model predictive control to control helicopters into stable flight near a ship and perform a soft touchdown from that state. A shrinking horizon model predictive control method is presented which can target specific states at specific times and take into account several important factors during landing. This controller is then used in simulation to perform a touchdown maneuver on a ship for a helicopter by targeting a landed state at a specific time. Increasing levels of fidelity are considered in the simulations. Computational power required reduces the closer the helicopter starts to the landing pad. An infinite horizon model predictive controller which allows simultaneous cost on state tracking, control energy, and control rates and allows tracking of an arbitrary equilibrium to infinity is then presented. It is applied in simulation to control a helicopter initially in a random flight condition far from a ship to slowly transition to stable flight near the ship, holding an arbitrary rough position relative to the ship indefinitely at the end. Three different target positions are simulated. This infinite horizon control method can be used to prepare for landing procedures that desire starting with the helicopter in some specific position in close proximity to the landing pad, such as the finite horizon method of landing control described previously which should start with the helicopter close to the ship to reduce computation power required. A method of constructing a landing envelope is then presented and used to construct a landing envelope for the finite horizon landing controller. A pre-existing method of combining linear controllers to account for nonlinearity is then slightly modified and used on implementations of the finite horizon landing controller to make a control that takes into account some of the nonlinearity of the problem. This control is tested in simulation.","abstract_html":"This dissertation focuses on implementing and analyzing advanced methods of model predictive control to control helicopters into stable flight near a ship and perform a soft touchdown from that state. A shrinking horizon model predictive control method is presented which can target specific states at specific times and take into account several important factors during landing. This controller is then used in simulation to perform a touchdown maneuver on a ship for a helicopter by targeting a landed state at a specific time. Increasing levels of fidelity are considered in the simulations. Computational power required reduces the closer the helicopter starts to the landing pad. An infinite horizon model predictive controller which allows simultaneous cost on state tracking, control energy, and control rates and allows tracking of an arbitrary equilibrium to infinity is then presented. It is applied in simulation to control a helicopter initially in a random flight condition far from a ship to slowly transition to stable flight near the ship, holding an arbitrary rough position relative to the ship indefinitely at the end. Three different target positions are simulated. This infinite horizon control method can be used to prepare for landing procedures that desire starting with the helicopter in some specific position in close proximity to the landing pad, such as the finite horizon method of landing control described previously which should start with the helicopter close to the ship to reduce computation power required. A method of constructing a landing envelope is then presented and used to construct a landing envelope for the finite horizon landing controller. A pre-existing method of combining linear controllers to account for nonlinearity is then slightly modified and used on implementations of the finite horizon landing controller to make a control that takes into account some of the nonlinearity of the problem. This control is tested in simulation.","abstract_has_math":false,"creators":["Greer, William Bryce"],"institution":"Virginia Tech","degree_name":"Doctor of Philosophy","degree_level":"doctoral","degree_discipline":"Aerospace Engineering","degree_department":"Aerospace and Ocean Engineering","school":null,"contributors":[],"advisors":[],"committee_chairs":["Sultan, Cornel"],"committee_members":["Kochersberger, Kevin B.","Woolsey, Craig A.","Patil, Mayuresh J."],"year":2019,"date_issued":"2019-10-22","date_published":"2019-10-22","updated_at":"2026-07-22T22:19:47Z","subjects":["Helicopter","Landing","MPC","Control"],"languages":[],"rights":["In Copyright"],"rights_urls":["http://rightsstatements.org/vocab/InC/1.0/"],"identifier_entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["vt_gsexam:22499"],"render_values":[{"text":"vt_gsexam:22499","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/10919/95031","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.committeechair","label":"Committee Chair","values":["Sultan, Cornel"]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["Kochersberger, Kevin B.","Woolsey, Craig A.","Patil, Mayuresh J."]},{"key":"dc:contributor.department","label":"Department","values":["Aerospace and Ocean Engineering"]},{"key":"dc:creator","label":"Author","values":["Greer, William Bryce"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2019-10-23T08:00:26Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2019-10-23T08:00:26Z"]},{"key":"dc:date.issued","label":"Date","values":["2019-10-22"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Tech"]},{"key":"dc:type","label":"Dc Type","values":["Dissertation"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Aerospace Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["doctoral"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Doctor of Philosophy"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Helicopter","Landing","MPC","Control"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:rights","label":"Dc Rights","values":["In Copyright"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://rightsstatements.org/vocab/InC/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["vt_gsexam:22499"]},{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/10919/95031"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["This dissertation focuses on implementing and analyzing advanced methods of model predictive control to control helicopters into stable flight near a ship and perform a soft touchdown from that state. A shrinking horizon model predictive control method is presented which can target specific states at specific times and take into account several important factors during landing. This controller is then used in simulation to perform a touchdown maneuver on a ship for a helicopter by targeting a landed state at a specific time. Increasing levels of fidelity are considered in the simulations. Computational power required reduces the closer the helicopter starts to the landing pad. An infinite horizon model predictive controller which allows simultaneous cost on state tracking, control energy, and control rates and allows tracking of an arbitrary equilibrium to infinity is then presented. It is applied in simulation to control a helicopter initially in a random flight condition far from a ship to slowly transition to stable flight near the ship, holding an arbitrary rough position relative to the ship indefinitely at the end. Three different target positions are simulated. This infinite horizon control method can be used to prepare for landing procedures that desire starting with the helicopter in some specific position in close proximity to the landing pad, such as the finite horizon method of landing control described previously which should start with the helicopter close to the ship to reduce computation power required. A method of constructing a landing envelope is then presented and used to construct a landing envelope for the finite horizon landing controller. A pre-existing method of combining linear controllers to account for nonlinearity is then slightly modified and used on implementations of the finite horizon landing controller to make a control that takes into account some of the nonlinearity of the problem. This control is tested in simulation."]},{"key":"dc:description.abstractgeneral","label":"General Abstract","values":["This dissertation proposes and, using simulation, analyzes control algorithms and their use on helicopter shipboard operations. Various benefits and advances for controls in this area are suggested, tested, and discussed. The control methods presented and implemented, while not limited to these use cases, are particularly well suited for them. One control algorithm is used for controlling flight near the landing point on a ship and performing a soft touchdown on the ship. The algorithm is tested in simulation. Another algorithm is used to control a helicopter initially in flight far away from the ship to slowly transition to stable flight near the ship, holding a rough position relative to the ship indefinitely at the end. This control could be used to set up the helicopter for later use of the touchdown control. This control is also tested in simulation. A method of quantifying what conditions the touchdown controller has a relatively good chance of successfully landing in is then suggested. The range of conditions for which successful touchdown has a relatively high chance of being achieved along with an analysis of that likelihood is called the landing envelope. Using the landing envelope construction method with numerous simulations, a landing envelope for the touchdown controller is obtained. The touchdown controller assumes that the helicopter’s dynamics are linear. Helicopter dynamics (like most dynamics of real systems) are nonlinear. However, under conditions near the point that dynamics are linearized about, a linear approximation is sufficiently accurate. To improve on the above landing algorithm, a method of combining multiple specific implementations of the touchdown controller to help account for nonlinearity to improve the approximation of the dynamics that the controller assumes is then suggested and performed in simulation."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Doctor of Philosophy"]},{"key":"dc:format.medium","label":"Dc Format Medium","values":["ETD"]},{"key":"dc:title","label":"Title","values":["Advanced Linear Model Predictive Control For Helicopter Shipboard Maneuvers"]}]}],"canonical_facts":{"dc:contributor.committeechair":["Sultan, Cornel"],"dc:contributor.committeemember":["Kochersberger, Kevin B.","Woolsey, Craig A.","Patil, Mayuresh J."],"dc:contributor.department":["Aerospace and Ocean Engineering"],"dc:creator":["Greer, William Bryce"],"dc:date.accessioned":["2019-10-23T08:00:26Z"],"dc:date.available":["2019-10-23T08:00:26Z"],"dc:date.issued":["2019-10-22"],"dc:description.abstract":["This dissertation focuses on implementing and analyzing advanced methods of model predictive control to control helicopters into stable flight near a ship and perform a soft touchdown from that state. A shrinking horizon model predictive control method is presented which can target specific states at specific times and take into account several important factors during landing. This controller is then used in simulation to perform a touchdown maneuver on a ship for a helicopter by targeting a landed state at a specific time. Increasing levels of fidelity are considered in the simulations. Computational power required reduces the closer the helicopter starts to the landing pad. An infinite horizon model predictive controller which allows simultaneous cost on state tracking, control energy, and control rates and allows tracking of an arbitrary equilibrium to infinity is then presented. It is applied in simulation to control a helicopter initially in a random flight condition far from a ship to slowly transition to stable flight near the ship, holding an arbitrary rough position relative to the ship indefinitely at the end. Three different target positions are simulated. This infinite horizon control method can be used to prepare for landing procedures that desire starting with the helicopter in some specific position in close proximity to the landing pad, such as the finite horizon method of landing control described previously which should start with the helicopter close to the ship to reduce computation power required. A method of constructing a landing envelope is then presented and used to construct a landing envelope for the finite horizon landing controller. A pre-existing method of combining linear controllers to account for nonlinearity is then slightly modified and used on implementations of the finite horizon landing controller to make a control that takes into account some of the nonlinearity of the problem. This control is tested in simulation."],"dc:description.abstractgeneral":["This dissertation proposes and, using simulation, analyzes control algorithms and their use on helicopter shipboard operations. Various benefits and advances for controls in this area are suggested, tested, and discussed. The control methods presented and implemented, while not limited to these use cases, are particularly well suited for them. One control algorithm is used for controlling flight near the landing point on a ship and performing a soft touchdown on the ship. The algorithm is tested in simulation. Another algorithm is used to control a helicopter initially in flight far away from the ship to slowly transition to stable flight near the ship, holding a rough position relative to the ship indefinitely at the end. This control could be used to set up the helicopter for later use of the touchdown control. This control is also tested in simulation. A method of quantifying what conditions the touchdown controller has a relatively good chance of successfully landing in is then suggested. The range of conditions for which successful touchdown has a relatively high chance of being achieved along with an analysis of that likelihood is called the landing envelope. Using the landing envelope construction method with numerous simulations, a landing envelope for the touchdown controller is obtained. The touchdown controller assumes that the helicopter’s dynamics are linear. Helicopter dynamics (like most dynamics of real systems) are nonlinear. However, under conditions near the point that dynamics are linearized about, a linear approximation is sufficiently accurate. To improve on the above landing algorithm, a method of combining multiple specific implementations of the touchdown controller to help account for nonlinearity to improve the approximation of the dynamics that the controller assumes is then suggested and performed in simulation."],"dc:description.degree":["Doctor of Philosophy"],"dc:format.medium":["ETD"],"dc:identifier.other":["vt_gsexam:22499"],"dc:identifier.uri":["http://hdl.handle.net/10919/95031"],"dc:publisher":["Virginia Tech"],"dc:rights":["In Copyright"],"dc:rights.uri":["http://rightsstatements.org/vocab/InC/1.0/"],"dc:subject":["Helicopter","Landing","MPC","Control"],"dc:title":["Advanced Linear Model Predictive Control For Helicopter Shipboard Maneuvers"],"dc:type":["Dissertation"],"thesis:degree_discipline":["Aerospace Engineering"],"thesis:degree_level":["doctoral"],"thesis:degree_name":["Doctor of Philosophy"],"thesis:institution_name":["Virginia Polytechnic Institute and State University"]},"updated_at":"2026-07-22T22:19:47Z"}