Trajectory tracking of quaternion based quadrotor using model predictive control

Islam, Maidul and Okasha, Mohamed Elsayed Aly Abd Elaziz and Idres, Moumen and Mansor, Hasmah (2018) Trajectory tracking of quaternion based quadrotor using model predictive control. International Journal of Engineering and Technology (UAE), 7 (4.13). pp. 125-128. ISSN 2227-524X

	PDF - Published Version Restricted to Registered users only Download (548kB) | Request a copy
Preview	PDF (SCOPUS) - Supplemental Material Download (76kB) | Preview

Abstract

The aim of this paper is to introduce the trajectory tracking with a quaternion based quadrotor operation using model predictive con-trol (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 ori-entations 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.

Item Type:	Article (Journal)
Additional Information:	6908/68029
Uncontrolled Keywords:	cost function; MPC; quadrotor; quaternion; tracking
Subjects:	T Technology > TA Engineering (General). Civil engineering (General) T Technology > TJ Mechanical engineering and machinery T Technology > TL Motor vehicles. Aeronautics. Astronautics
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechanical Engineering Kulliyyah of Engineering Kulliyyah of Engineering > Department of Electrical and Computer Engineering
Depositing User:	Dr Mohamed Okasha
Date Deposited:	06 Dec 2018 10:52
Last Modified:	06 Dec 2018 10:52
URI:	http://irep.iium.edu.my/id/eprint/68029

Actions (login required)

View Item