The control of constrained system with time-delay and its experimental evaluations using RC model helicopter

In this paper, we consider the control of a system with time-delay and constraints on states and control inputs. It is well-known that the the presence of time-delay and physical constraints in dynamical systems causes the instability and preference degradation. In designing control laws for the system, we apply the following approach. We design a predictive controller and stabilize the system with time-delay using the controller. Then we implement a reference governor to the stabilized system. We apply the proposed method to a RC (radio controlled) helicopter control system. The effectiveness of our approach is evaluated through simulations and experiments of the yaw angle control.