Design of Robust & Predictive Controller for Altitude Stabilization and Trajectory Tracking of a Quad-Copter

  • Authors

    • S. Bushra
    • H. H.Memon
    • A. Nighat
    • B. S.Chowdhry
    2018-12-03
    https://doi.org/10.14419/ijet.v7i4.38.24594
  • Quadcopter, robust & predictive controller, altitude, trajectory tracking.

  • Abstract

    Controlling the non-linear dynamics of the quad-copter has stimulated many control engineers to investigate & design the variety of controllers in order to control and stabilize the various aspects of quad copter such as the attitude, altitude, heading, xy position and even in trajectory following in the presence of disturbance. This is because of the quad-copter’s application and importance in the variety of fields such as military, rescue, agriculture, surveillance, investigation, etc. Altitude control & stabilization problem of the quad-copter is the main focus of this research study. A dynamic and predictive controller is designed for the said problem based on Model predictive controller. In order to deal with the uncertainties & dynamics of the model during the flight operation and to ensure the robustness for the designed system, the sliding mode control technique is presented. Proportional-Integral-Derivative controller is also implemented for the system to make a comparative analysis with the rest of the designed controllers. Apart from controlling & stabilizing the altitude, these controllers are also capable for the trajectory tracking of the quad-copter. The six degree of freedom coupled model of quad-copter is taken into account and the same is then de-coupled for quad-copter hovering. In order to confirm the asymptotically stable state of the system, stability analysis of the proposed controller design is also done. The designed system is simulated in MATLAB/SIMULINK and also the comparison for robust and predictive controller is presented in order to depict the degree of potency of the proposed controller.

     

     

  • References

    1. [1] V.K. Tripathi, L. Behera and N. Verma. Design of Sliding Mode and Backstepping Controllers for a Quadcopter. Proceedings of the 39th National Systems Conference (NSC), (2015) December; pp. 1-6, IEEE.

      [2] A. Azzam and X. Wang, Quad Rotor Arial Robot Dynamic Modeling and Configuration Stabilization. Proceeding of the 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR), (2010) March; Vol. 1, pp. 438-444, IEEE.

      [3] M. Fatan, B.L. Sefidgari and A.V. Barenji. An Adaptive Neuro PID for Controlling the Altitude of Quadcopter Robot. Proceedings of the 18th International Conference on Methods and Models in Automation and Robotics (MMAR), (2013) August; pp. 662-665, IEEE.

      [4] K. Khuwaja, N.Z. Lighari, I.C. Tarca and R.C.Tarca. PID Controller Tuning Optimization with Genetic Algorithms for a Quadcopter. Recent Innovations in Mechatronics (RIiM), Vol. 5, No. 1, (2018).

      [5] E. Paiva, J. Soto, J. Salinas and W. Ipanaqué. Modeling, Simulation and Implementation of a Modified PID Controller for Stabilizing a Quadcopter. Proceedings of the IEEE International Conference on Automatica (ICA-ACCA), (2016) October; pp. 1-6, IEEE.

      [6] N. Bao, X. Ran, Z. Wu, Y. Xue and K. Wang. Research on Attitude Controller of Quadcopter based on Cascade PID Control Algorithm. Proceedings of the 2017 IEEE 2nd Information Conference on Technology, Networking, Electronic and Automation Control Conference (ITNEC), (2017) December; pp. 1493-1497, IEEE.

      [7] J. Yang, Z. Cai, Q. Lin and Y. Wang, Self-tuning PID Control Design for Quadrotor UAV based on Adaptive Pole Placement Control. Proceedings of the Chinese Automation Congress (CAC), (2013) November; pp. 233-237, IEEE.

      [8] G.V. Raffo, M.G. Ortega and F.R. Rubio. An Integral Predictive/Nonlinear H∞ Control Structure for a Quadrotor Helicopter. Automatica, 46(1), pp.29-39, (2010).

      [9] K. Alexis, G. Nikolakopoulos and A. Tzes. Switching Model Predictive Attitude Control for a Quadrotor Helicopter Subject to Atmospheric Disturbances. Control Engineering Practice, 19(10), pp.1195-1207, (2011)

      [10] I. Sadeghzadeh, M. Abdolhosseini and Y.M. Zhang. Payload Drop Application of Unmanned Quadrotor Helicopter using Gain-Scheduled PID and Model Predictive Control Techniques. Proceedings of the International Conference on Intelligent Robotics and Applications (2012) October; pp. 386-395, Springer, Berlin, Heidelberg.

      [11] G. Ganga and M.M. Dharmana. MPC Controller for Trajectory Tracking Control of Quadcopter. Proceedings of the International Conference on Circuit, Power and Computing Technologies (ICCPCT), (2017) April; pp. 1-6, IEEE.

      [12] S. Bouabdallah and R. Siegwart. Backstepping and sliding-mode techniques applied to an indoor micro quadrotor. In Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, pages 2247-2252, (2005). doi: 10.1109/ROBOT.2005.1570447.

      [13] A. Nagaty, S. Saeedi, C. Thibault, M. Seto and H. Li. Control and Navigation Framework for Quadrotor Helicopters. Journal of Intelligent and Robotic Systems, 70(1-4), pp.1-12, (2013).

      [14] D. Gautam and C. Ha. Control of a quadrotor using a smart self-tuning fuzzy PID controller. International Journal of Advanced Robotic Systems, 10(11), p.380, (2013).

      [15] S.J. Qin and T.A. Badgwell. A Survey of Industrial Model Predictive Control Technology. Control Engineering Practice, 11(7), pp.733-764, (2003)

      [16] L.Wang “Discrete-time MPC with Constraintsâ€, Advances in Industrial Control, pp 43-84, (2009).

      [17] H. H. Memon, B. S. Chowdhry and M. Aamir. Optimal power dispatch using model predictive control for energy deficit countries. 13th International Bhurban Conference on Applied Sciences and Technology (IBCAST), Islamabad, pp. 245-250, (2016).

      [18] U. Adeely, A. A. Zaidiz and A. Y. Memon, "Path tracking of a heavy weight torpedo in diving plane using an output feedback sliding mode controller," 12th International Bhurban Conference on Applied Sciences and Technology (IBCAST), Islamabad, pp. 489-494, (2015).

  • Downloads

  • How to Cite

    Bushra, S., H.Memon, H., Nighat, A., & S.Chowdhry, B. (2018). Design of Robust & Predictive Controller for Altitude Stabilization and Trajectory Tracking of a Quad-Copter. International Journal of Engineering & Technology, 7(4.38), 416-421. https://doi.org/10.14419/ijet.v7i4.38.24594

    Received date: 2018-12-22

    Accepted date: 2018-12-22

    Published date: 2018-12-03