Trajectory tracking of quaternion based quadrotor using model predictive control
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 quaternio...
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| Format: | Article |
| Language: | English English |
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Science Publishing Corporation Inc
2018
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| Online Access: | http://irep.iium.edu.my/68029/ http://irep.iium.edu.my/68029/ http://irep.iium.edu.my/68029/ http://irep.iium.edu.my/68029/1/68029_Trajectory%20tracking%20of%20quaternion.pdf http://irep.iium.edu.my/68029/2/68029_Trajectory%20tracking%20of%20quaternion_SCOPUS.pdf |
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iium-68029 |
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iium-680292018-12-06T02:52:41Z http://irep.iium.edu.my/68029/ Trajectory tracking of quaternion based quadrotor using model predictive control Islam, Maidul Okasha, Mohamed Elsayed Aly Abd Elaziz Idres, Moumen Mansor, Hasmah TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery TL Motor vehicles. Aeronautics. Astronautics 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. Science Publishing Corporation Inc 2018 Article PeerReviewed application/pdf en http://irep.iium.edu.my/68029/1/68029_Trajectory%20tracking%20of%20quaternion.pdf application/pdf en http://irep.iium.edu.my/68029/2/68029_Trajectory%20tracking%20of%20quaternion_SCOPUS.pdf 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 https://www.sciencepubco.com/index.php/ijet/article/view/21343/10104 10.14419/ijet.v7i4.13.21343 |
| repository_type |
Digital Repository |
| institution_category |
Local University |
| institution |
International Islamic University Malaysia |
| building |
IIUM Repository |
| collection |
Online Access |
| language |
English English |
| topic |
TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery TL Motor vehicles. Aeronautics. Astronautics |
| spellingShingle |
TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery TL Motor vehicles. Aeronautics. Astronautics Islam, Maidul Okasha, Mohamed Elsayed Aly Abd Elaziz Idres, Moumen Mansor, Hasmah Trajectory tracking of quaternion based quadrotor using model predictive control |
| description |
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. |
| format |
Article |
| author |
Islam, Maidul Okasha, Mohamed Elsayed Aly Abd Elaziz Idres, Moumen Mansor, Hasmah |
| author_facet |
Islam, Maidul Okasha, Mohamed Elsayed Aly Abd Elaziz Idres, Moumen Mansor, Hasmah |
| author_sort |
Islam, Maidul |
| title |
Trajectory tracking of quaternion based quadrotor using model predictive control |
| title_short |
Trajectory tracking of quaternion based quadrotor using model predictive control |
| title_full |
Trajectory tracking of quaternion based quadrotor using model predictive control |
| title_fullStr |
Trajectory tracking of quaternion based quadrotor using model predictive control |
| title_full_unstemmed |
Trajectory tracking of quaternion based quadrotor using model predictive control |
| title_sort |
trajectory tracking of quaternion based quadrotor using model predictive control |
| publisher |
Science Publishing Corporation Inc |
| publishDate |
2018 |
| url |
http://irep.iium.edu.my/68029/ http://irep.iium.edu.my/68029/ http://irep.iium.edu.my/68029/ http://irep.iium.edu.my/68029/1/68029_Trajectory%20tracking%20of%20quaternion.pdf http://irep.iium.edu.my/68029/2/68029_Trajectory%20tracking%20of%20quaternion_SCOPUS.pdf |
| first_indexed |
2023-09-18T21:36:35Z |
| last_indexed |
2023-09-18T21:36:35Z |
| _version_ |
1777412861312630784 |