Model Predictive Control for Autonomous Quadrotor Trajectory Tracking

Benotsmane, Rabab; Reda, Ahmad; Vásárhelyi, József

doi:10.1109/iccc54292.2022.9805883

Cited by 7 publications

(7 citation statements)

References 18 publications

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“…This paper presents the exact strategy to obtain both linear and nonlinear dynamic models based on the Tello drone's main parameters. The calculation of the mathematical model is based on some simplifications; here are the different working hypotheses [31]:…”

Section: Quad-rotor Mathematical Modelmentioning

confidence: 99%

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Towards Optimization of Energy Consumption of Tello Quad-Rotor with Mpc Model Implementation

Benotsmane

Vásárhelyi

2022

Energies

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For the last decade, there has been great interest in studying dynamic control for unmanned aerial vehicles, but drones—although a useful technology in different areas—are prone to several issues, such as instability, the high energy consumption of batteries, and the inaccuracy of tracking targets. Different approaches have been proposed for dealing with nonlinearity issues, which represent the most important features of this system. This paper focuses on the most common control strategy, known as model predictive control (MPC), with its two branches, linear (LMPC) and nonlinear (NLMPC). The aim is to develop a model based on sensors embedded in a Tello quad-rotor used for indoor purposes. The original controller of the Tello quad-rotor is supposed to be the slave, and the designed model predictive controller was created in MATLAB. The design was imported to another embedded system, considered the master. The objective of this model is to track the reference trajectory while maintaining the stability of the system and ensuring low energy consumption. The case study in this paper compares linear and nonlinear model predictive control (MPC). The results show the efficiency of NLMPC, which provides more promising results compared to LMPC. The comparison concentrates on the energy consumption, the tracked trajectory, and the execution time. The main finding of this research is that NLMPC is a good solution to smoothly track the reference trajectory. The controller in this case processes faster, but the rotors consume more energy because of the increased values of control inputs calculated by the nonlinear controller.

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Section: Quad-rotor Mathematical Modelmentioning

confidence: 99%

“…However, the dynamic model of the system is obtained under the assumption that the vehicle is a rigid body in the spatial domain with different forces and torques. The mathematical model presented here is based on Newton and Euler equations for 3D rigid-body motion [31].…”

mentioning

confidence: 99%

Towards Optimization of Energy Consumption of Tello Quad-Rotor with Mpc Model Implementation

Benotsmane

Vásárhelyi

2022

Energies

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“…This paper presents the exact strategy to get both linear and nonlinear dynamic models based on the Tello drone's main parameters. The calculation of the mathematical model is based on some simplifications; here are the different working hypotheses [25]:…”

Section: Quadroto Mathematical Modelmentioning

confidence: 99%

mentioning

confidence: 99%

Towards Optimization of Energy Consumption of Tello Quadrotor with MPC Model Implementation

Benotsmane¹,

Vásárhelyi²

2022

Preprint

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For a decade, the studies of dynamic control for unmanned aerial vehicles took a large interest, where drones as a useful technology in different areas were always suffering from several issues like instability-high energy consumption of batteries - inaccuracy of tracking targets. Different approaches are proposed for dealing with the non-linearity issues which present the most important features of this system. This paper describes our focus on the most common control strategies, known as model predictive control MPC, by developing a model based on the sensors embedded in our Tello quadrotor used for indoor purposes. The original controller of Tello quadrotor is supposed to be a slave, where the designed model predictive controller is created in MATLAB and imported to another embedded system, considered as a master; the objective of this model is to track the reference trajectory, almost keeping the stability of the system and ensure the low energy consumption. In the first part, a profound description of the modelling process of a dynamic model for drones is presented, explaining the design of MPC controller with both linear and non-linear strategies built in MATLAB. In the final part, simulation and results are discussed regarding its behaviour and performance, highlighting the MPC model's important role on drones' energy consumption profile.

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“…Another solution is adopted by researchers based on design an optimal control law, by generating a cost function from velocity and try to minimize it. Different strategies are taken in this field, some of them are linear [92] [93], [94], [95], as linear MPC (Model Predictive Control), LQR (Linear Quadratic Regulator), H ∞ , some techniques are nonlinear as nonlinear MPC, Back-stepping and slave mode [96].…”

Section: Performance Energy Of Power Source In Uavmentioning

confidence: 99%

An Overview of Energies Problems in Control and Robotic Systems

Vásárhelyi¹,

Salih²,

Rostum³

et al. 2022

Preprint

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Considering the actual world economical trends, one of the most important questions is now and in the future: how to reduce power consumption of electronic systems. Since the invention of computers, the electrical energy consumption step by step increased. Now when not only computers, but electric vehicles, robots, automation, and unmanned aerial vehicles play a very important role of our life, the main problem of system designers is how to reduce energy consumption in these systems. But also the existing already working systems must be revised in order to decrease their electric power consumption. The importance of this subject (energy control) shows that a huge number of research publications and survey papers deal with it. Just focusing on the last one or two years (2021 and 2022) the search hit 221000 titles (103000 hits only in 2022). Analyzing all the research areas is almost impossible, but focusing on some important research subjects, where one of the main topic is “energy saving methods” can give an overview about the subject. The paper focuses on the area of industrial robotic systems, electric vehicles, and embedded systems.

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Model Predictive Control for Autonomous Quadrotor Trajectory Tracking

Cited by 7 publications

References 18 publications

Towards Optimization of Energy Consumption of Tello Quad-Rotor with Mpc Model Implementation

Towards Optimization of Energy Consumption of Tello Quad-Rotor with Mpc Model Implementation

Towards Optimization of Energy Consumption of Tello Quadrotor with MPC Model Implementation

An Overview of Energies Problems in Control and Robotic Systems

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