Dynamics and control of quadcopter using linear model predictive control approach
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...
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Institute of Physics Publishing
2017
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| Online Access: | http://irep.iium.edu.my/62289/ http://irep.iium.edu.my/62289/ http://irep.iium.edu.my/62289/ http://irep.iium.edu.my/62289/1/Islam_2017_IOP_Conf._Ser.%253A_Mater._Sci._Eng._270_012007.pdf http://irep.iium.edu.my/62289/7/62289%20Dynamics%20and%20control%20of%20quadcopter%20using%20linear%20model%20SCOPUS.pdf |
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iium-622892019-08-17T05:44:05Z http://irep.iium.edu.my/62289/ Dynamics and control of quadcopter using linear model predictive control approach Islam, M Okasha, Mohamed Elsayed Aly Abd Elaziz Idres, Moumen TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) 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. Institute of Physics Publishing 2017-12-01 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/62289/1/Islam_2017_IOP_Conf._Ser.%253A_Mater._Sci._Eng._270_012007.pdf application/pdf en http://irep.iium.edu.my/62289/7/62289%20Dynamics%20and%20control%20of%20quadcopter%20using%20linear%20model%20SCOPUS.pdf 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. http://iopscience.iop.org/article/10.1088/1757-899X/270/1/012007/pdf 10.1088/1757-899X/270/1/012007 |
| repository_type |
Digital Repository |
| institution_category |
Local University |
| institution |
International Islamic University Malaysia |
| building |
IIUM Repository |
| collection |
Online Access |
| language |
English English |
| topic |
TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) |
| spellingShingle |
TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Islam, M Okasha, Mohamed Elsayed Aly Abd Elaziz Idres, Moumen Dynamics and control of quadcopter using linear model predictive control approach |
| description |
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. |
| format |
Conference or Workshop Item |
| author |
Islam, M Okasha, Mohamed Elsayed Aly Abd Elaziz Idres, Moumen |
| author_facet |
Islam, M Okasha, Mohamed Elsayed Aly Abd Elaziz Idres, Moumen |
| author_sort |
Islam, M |
| title |
Dynamics and control of quadcopter using linear model
predictive control approach |
| title_short |
Dynamics and control of quadcopter using linear model
predictive control approach |
| title_full |
Dynamics and control of quadcopter using linear model
predictive control approach |
| title_fullStr |
Dynamics and control of quadcopter using linear model
predictive control approach |
| title_full_unstemmed |
Dynamics and control of quadcopter using linear model
predictive control approach |
| title_sort |
dynamics and control of quadcopter using linear model
predictive control approach |
| publisher |
Institute of Physics Publishing |
| publishDate |
2017 |
| url |
http://irep.iium.edu.my/62289/ http://irep.iium.edu.my/62289/ http://irep.iium.edu.my/62289/ http://irep.iium.edu.my/62289/1/Islam_2017_IOP_Conf._Ser.%253A_Mater._Sci._Eng._270_012007.pdf http://irep.iium.edu.my/62289/7/62289%20Dynamics%20and%20control%20of%20quadcopter%20using%20linear%20model%20SCOPUS.pdf |
| first_indexed |
2023-09-18T21:28:18Z |
| last_indexed |
2023-09-18T21:28:18Z |
| _version_ |
1777412340492271616 |