| 主权项 |
1. A method of controlling a rotorcraft for sea-based operations, comprising:
receiving, with a processor, sensed information indicative of an operation of the rotorcraft; receiving, with the processor, operator commands, ship models and system constraints including relative velocity limits between the ship and the rotorcraft, accuracy of a landing position on the ship, landing gear structural integrity, sink rate of the rotorcraft, and impact velocity of the rotorcraft on the ship; determining, with a model predictive control (MPC) prediction module that employs a model based feedforward control utilizing a prediction algorithm, a solution to an optimization function that avoids violating the system constraints, the solution being representative of control command signals for augmenting a flight response of the rotorcraft to a ship; determining, with the processor, a solution to continuously update the system constraints that optimize a cost function utilizing MPC theory; and commanding the displacement of servos and linkages for controlling said rotorcraft. |
