Trajectory tracking for a quadrotor system: A flatness-based nonlinear predictive control approach

Filho, José Oniram de Aquino Limaverde; Lourenço, Tiago Santana; Fortaleza, Eugênio; Murilo, André; Lopes, Renato Vilela

doi:10.1109/cca.2016.7587999

Cited by 8 publications

(3 citation statements)

References 16 publications

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“…The quadcopter is one of the autonomous robot types that do not need a supporting surface; it contains four symmetric rotors. The symmetry of the quadcopter is crucial because the control of the quadcopter depends on rotor speed and lift force variation [1,2]. The symmetric structure of the quadcopter has many advantages for different applications like aerospace fields [3], military security systems [4], critical monitoring [5], and mineral exploration [6].…”

Section: Introductionmentioning

confidence: 99%

Evolutionary control system of asymmetric quadcopter

Ghafil

Jármai

2023

IRASE

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Drones, specifically quadcopters, have increased in importance during the last years due to their wide range of applications, from civil applications to military employment. One of the most important issues in quadcopters is the efficient control system. While many researchers have dealt with building control systems for symmetric quadcopters, this work presents an efficient control system for asymmetric quadcopters using evolutionary computations. The problem is well-defined throughout the paper, and the methodology is explained in detail in the respective sections. A genetic algorithm is used to tune the weighting matrix of the control system after formulating the control system as an optimization problem. The genetic algorithm was fast and active to increase the performance of the proposed system.

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Section: Introductionmentioning

confidence: 99%

Evolutionary control system of asymmetric quadcopter

Ghafil

Jármai

2023

IRASE

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“…In [7], Chamseddine developed a trajectory planning/replanning strategy based on the Bezier polynomials and the flatness property for a quadrotor in order to drive the quadrotor system form an initial position to a final one as fast as possible under actuator faults and without hitting system constraints. In [8], José first used the flatness property to linearise a quadrotor dynamic system. Afterwards, a model predictive controller with a Kalman filter was created for the obtained linear system to perform the trajectory tracking tasks in the presence of unavailable states.…”

Section: Introductionmentioning

confidence: 99%

Robust tracking control of quadrotor based on flatness and active disturbance rejection control

Abadi

Amraoui

Mekki

et al. 2020

IET Control Theory & Applications

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“…Fernández‐Caballero et al utilized the flatness approach and the generalized proportional integral to ensure the exponentially stable behavior of the controlled quadrotor position and orientation despite the existence of noisy measurements and disturbances. Limaverde Filho et al combined the flatness and predictive‐control strategies to ensure an online trajectory tracking for the quadrotor. Lu et al put forward an online optimization process based on the differential flatness to generate desired references and a backstepping controller to track the obtained optimal trajectory.…”

Section: Introductionmentioning

confidence: 99%

Optimal trajectory generation and robust flatness–based tracking control of quadrotors

Abadi

Mekki

Ramdani

2019

Optim Control Appl Methods

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This work proposes an optimal trajectory generation and a robust flatness-based tracking controller design to create a new performance guidance module for the quadrotor in dense indoor environments. The properties of the differential flatness, the B-spline, and the direct collocation method are exploited to convert the constrained optimization problem into a nonlinear programming one, which can be easily resolved by a classic solver. After that, the obtained optimal reference trajectory is applied to the dynamic quadrotor model and two different flatness-based controllers, namely, one based on feedback linearization and one based on feedforward linearization, are developed and compared to ensure the trajectory tracking despite the existence of disturbances and parametric uncertainties. Numerical simulation is executed to evaluate the proposed optimal trajectory generation approach and the robust tracking strategies. It turns out that the controller based on feedforward linearization outperforms the feedback linearization one in robustness and permits obtaining a performance guidance law for an uncertain quadrotor system.

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Trajectory tracking for a quadrotor system: A flatness-based nonlinear predictive control approach

Cited by 8 publications

References 16 publications

Evolutionary control system of asymmetric quadcopter

Evolutionary control system of asymmetric quadcopter

Robust tracking control of quadrotor based on flatness and active disturbance rejection control

Optimal trajectory generation and robust flatness–based tracking control of quadrotors

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