Dynamics and control of quadcopter using linear model predictive control approach

Islam, M and Okasha, Mohamed Elsayed Aly Abd Elaziz and Idres, Moumen (2017) Dynamics and control of quadcopter using linear model predictive control approach. In: 1st AEROS Conference 2017, 12 December 2017, Putrajaya, Malaysia.

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Abstract

This paper investigates the dynamics and control of a quadcopter using the Model Predictive Control (MPC) approach. The dynamic model is of high fidelity and nonlinear, with six degrees of freedom that include disturbances and model uncertainties. The control approach is developed based on MPC to track different reference trajectories ranging from simple ones such as circular to complex helical trajectories. In this control technique, a linearized model is derived and the receding horizon method is applied to generate the optimal control sequence. Although MPC is computer expensive, it is highly effective to deal with the different types of nonlinearities and constraints such as actuators’ saturation and model uncertainties. The MPC parameters (control and prediction horizons) are selected by trial-and-error approach. Several simulation scenarios are performed to examine and evaluate the performance of the proposed control approach using MATLAB and Simulink environment. Simulation results show that this control approach is highly effective to track a given reference trajectory.

Item Type:	Conference or Workshop Item (Plenary Papers)
Additional Information:	6908/62289
Uncontrolled Keywords:	dynamics and control, Helical trajectory, MATLAB and SIMULINK, Model uncertainties, Receding-horizon methods, Reference trajectories, Six degrees of freedom, Trial-and-error approach
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering
Depositing User:	Dr Moumen Idres
Date Deposited:	02 Mar 2018 02:00
Last Modified:	17 Aug 2019 13:44
URI:	http://irep.iium.edu.my/id/eprint/62289

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