Trajectory tracking of quaternion based quadrotor using model predictive control

  • Authors

    • M Islam
    • M Okasha
    • M M Idres
    • H Mansor
    2018-10-09
    https://doi.org/10.14419/ijet.v7i4.13.21343
  • cost function, MPC, quadrotor, quaternion, tracking.

  • Abstract

    The aim of this paper is to introduce the trajectory tracking with a quaternion based quadrotor operation using model predictive control (MPC). Since the efficacy of MPC on a system under noise and disturbance has been distinguished, it is a fair and successful attempt to apply MPC on the quaternion based quadrotor, which is a quite well-known system with uncertainties during operation. Quaternion approaches singularity-free orientation that is advantageous to design any trajectory for quadrotor wherein roll or pitch angle reaches at 90o. As a quaternion, with its four-tuple characteristics that incorporate vector elements, is different from Euler-angle orientation, a new cost function has been developed for the respective MPC controller. In order to achieve singularity-free orientations and abate the model infidelity of the system, the quaternion and MPC algorithm have been incorporated for quadrotor flight. Simulation based results elucidate the success of trajectory tracking of quaternion based dynamics of quadrotor using MPC approach.

     

     

  • References

    1. [1] Kendoul F (2012), Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems. Journal of Field Robotics 29(2), 315-378

      [2] Kozák Š(2012), Advanced control engineering methods in modern technological applications. Carpathian Control Conference (ICCC), 13th International IEEE.

      [3] Bouffard P (2012), On-board Model Predictive Control of a Quadrotor Helicopter: Design, Implementation and Experiments, University of California: Berkeley.

      [4] Raffo GV, Ortega MG, & Rubio FR (2008), MPC with nonlinear ℋ∞ control for path tracking of a quadrotor helicopter. IFAC Proceedings 41(2), 8564-8569

      [5] Alexis K, Nikolakopoulos G & Tzes A (2010), Experimental model predictive attitude tracking control of a quadrotor helicopter subject to wind-gusts. 18th IEEE Mediterranean Conference on Control & Automation

      [6] Fresk E & Nikolakopoulos G (2013), Full quaternion based attitude control for a quadrotor. IEEE European Control Conference (ECC)

      [7] Reyes-Valeria E, Enriquez-Caldera R, Camacho-Lara S & Guichard J (2013), LQR control for a quadrotor using unit quaternions: Modeling and simulation. IEEE International Conference on Electronics, Communications and Computing (CONIELECOMP)

      [8] Bouabdallah S (2007), Design and control of quadrotors with application to autonomous flying. PhD Thesis, Ecole Polytechnique.

      [9] Lindblom S & Lundmark A (2015), Modelling and control of a hexarotor UAV. Thesis, Linkoping University

      [10] Bemporad A, Morari M & Lawrence RN (2017), Model Predictive Control Toolboxâ„¢ User's Guide: Optimization Problem. The MathWorks, Inc.

      [11] Mathworks (2016), Optimization Problem

      [12] Bemporad A, Morari M & Lawrence RN (2017), Model Predictive Control Toolboxâ„¢ User's Guide in QP Solver. The MathWorks, Inc.

      [13] Islam M, Okasha M & Idres M (2017), Dynamics and control of quadcopter using linear model predictive control approach. IOP Conference Series: Materials Science and Engineering 270, 012007

  • Downloads

  • How to Cite

    Islam, M., Okasha, M., M Idres, M., & Mansor, H. (2018). Trajectory tracking of quaternion based quadrotor using model predictive control. International Journal of Engineering & Technology, 7(4.13), 125-136. https://doi.org/10.14419/ijet.v7i4.13.21343

    Received date: 2018-10-08

    Accepted date: 2018-10-08

    Published date: 2018-10-09