Abstract:
This thesis is concerned with depicting the performance of MPC as a controller in nonlinear
systems covering various fields of engineering. The Adaptive PID controller is used as the
generic means of controller comparison. Main Emphasis and theme of this thesis is to visualize
the performance of MPC as a controller for the flight control of the Micro Aviation Vehicle
Ornithopter. The velocity, altitude and angular position are taken as the flight outputs to be
controlled. A two dimensional model of the ornithopter is selected because it accommodates the
inseparability of thrust and lift in its system which is instrumental for describing the flight
operation of the ornithopter. Both the acceleration phase and steady state cruise motion control
of the ornithopter is considered. The entire nonlinear mathematical model describing the
equations of motion of the ornithopter is simulated in the Simulink Environment of the Matlab
Software. The performance of the Model Predictive Controller for the flight control of MAV
ornithopter is evaluated by comparing the responses with that of an Adaptive PID controller.
Although a very improved and significant flight control of the ornithopter is possible with the
Model Predictive Controller, a disturbance prone scenario, changing wind direction and speed is
needed to completely visualize the impact of Model Predictive Controller in the flight control of
an ornithopter. Moreover a better system model comprising a three dimensional mathematical
model is required to successfully proceed with further altitude and velocity control. Other
directional outputs such as the angular velocity, acceleration can also be investigated.
Hence this thesis can be considered as the basis of properly understanding the control mechanism
of the Model Predictive Controller and finally would serve as the platform from which the flight
control of ornithopter can be investigated with Model Predictive Controller under more realistic
and practical instances in which the ornithopter needs to be controlled.
