Design and Implementation of a Constrained Model Predictive Control Approach for Unmanned Aerial Vehicles
This paper designs and implements a robust and Time-varying Constrained Model Predictive Controller (TCMPC) for the translational and attitude control of a real quadrotor. The proposed approach considers online optimization to find solutions through the hard and soft constraints. All the controller...
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9868004/ |
| _version_ | 1798032006497435648 |
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| author | Morteza Aliyari Wing-Kwong Wong Yassine Bouteraa Sepideh Najafinia Afef Fekih Saleh Mobayen |
| author_facet | Morteza Aliyari Wing-Kwong Wong Yassine Bouteraa Sepideh Najafinia Afef Fekih Saleh Mobayen |
| author_sort | Morteza Aliyari |
| collection | DOAJ |
| description | This paper designs and implements a robust and Time-varying Constrained Model Predictive Controller (TCMPC) for the translational and attitude control of a real quadrotor. The proposed approach considers online optimization to find solutions through the hard and soft constraints. All the controller parameters were derived from the experimental test setup and took into consideration the various restrictions and physical constraints associated with the hand-made quadrotor. The proposed controller can possibly linearize and discretize the nonlinear dynamic model of the quadrotor at every sampling time if all constraints and physical restrictions are considered. The performance of the proposed approach was assessed using both a simulation study and a practical implementation. The simulation study considered a quadrotor hovering mode in the presence of wind gusts and encompassed a comparison analysis with a well-tuned Proportional-Integral-Derivative (PID) controller, an Advanced Error model predictive control (AEMPC), and an Efficient MPC (EMPC) approach. For the real-time implementation, an online optimization algorithm was used and tested on the high clock processor ARM A53 on a new attitude test setup. The experimental results, showed that the proposed controller outperformed the unconstrained MPC, the well-tuned PID controller, and EMPC, especially in terms of rejecting the external wind disturbances. The proposed method real-time TCMPC) approach has the advantages of greater robustness and is not heavily dependent upon the accurate dynamics of the model. |
| first_indexed | 2024-04-11T20:07:02Z |
| format | Article |
| id | doaj.art-5feab3a38c1541b2a12efffb976319b1 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-11T20:07:02Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-5feab3a38c1541b2a12efffb976319b12022-12-22T04:05:18ZengIEEEIEEE Access2169-35362022-01-0110917509176210.1109/ACCESS.2022.32020209868004Design and Implementation of a Constrained Model Predictive Control Approach for Unmanned Aerial VehiclesMorteza Aliyari0Wing-Kwong Wong1https://orcid.org/0000-0003-2986-1464Yassine Bouteraa2Sepideh Najafinia3Afef Fekih4https://orcid.org/0000-0003-4522-502XSaleh Mobayen5https://orcid.org/0000-0002-5676-1875Department of Electronic Engineering, National Yunlin University of Science and Technology, Douliou, Yunlin, TaiwanDepartment of Electronic Engineering, National Yunlin University of Science and Technology, Douliou, Yunlin, TaiwanCollege of Computer Engineering and Sciences, Prince Sattam Bin Abdulaziz University, Al-Kharj, Saudi ArabiaDepartment of Electronic Engineering, National Yunlin University of Science and Technology, Douliou, Yunlin, TaiwanDepartment of Electrical and Computer Engineering, University of Louisiana at Lafayette, Lafayette, LA, USAFuture Technology Research Center, National Yunlin University of Science and Technology, Douliou, Yunlin, TaiwanThis paper designs and implements a robust and Time-varying Constrained Model Predictive Controller (TCMPC) for the translational and attitude control of a real quadrotor. The proposed approach considers online optimization to find solutions through the hard and soft constraints. All the controller parameters were derived from the experimental test setup and took into consideration the various restrictions and physical constraints associated with the hand-made quadrotor. The proposed controller can possibly linearize and discretize the nonlinear dynamic model of the quadrotor at every sampling time if all constraints and physical restrictions are considered. The performance of the proposed approach was assessed using both a simulation study and a practical implementation. The simulation study considered a quadrotor hovering mode in the presence of wind gusts and encompassed a comparison analysis with a well-tuned Proportional-Integral-Derivative (PID) controller, an Advanced Error model predictive control (AEMPC), and an Efficient MPC (EMPC) approach. For the real-time implementation, an online optimization algorithm was used and tested on the high clock processor ARM A53 on a new attitude test setup. The experimental results, showed that the proposed controller outperformed the unconstrained MPC, the well-tuned PID controller, and EMPC, especially in terms of rejecting the external wind disturbances. The proposed method real-time TCMPC) approach has the advantages of greater robustness and is not heavily dependent upon the accurate dynamics of the model.https://ieeexplore.ieee.org/document/9868004/Quadcopter UAVconstrained MPCexternal disturbancecontrol designreal-time implementation |
| spellingShingle | Morteza Aliyari Wing-Kwong Wong Yassine Bouteraa Sepideh Najafinia Afef Fekih Saleh Mobayen Design and Implementation of a Constrained Model Predictive Control Approach for Unmanned Aerial Vehicles IEEE Access Quadcopter UAV constrained MPC external disturbance control design real-time implementation |
| title | Design and Implementation of a Constrained Model Predictive Control Approach for Unmanned Aerial Vehicles |
| title_full | Design and Implementation of a Constrained Model Predictive Control Approach for Unmanned Aerial Vehicles |
| title_fullStr | Design and Implementation of a Constrained Model Predictive Control Approach for Unmanned Aerial Vehicles |
| title_full_unstemmed | Design and Implementation of a Constrained Model Predictive Control Approach for Unmanned Aerial Vehicles |
| title_short | Design and Implementation of a Constrained Model Predictive Control Approach for Unmanned Aerial Vehicles |
| title_sort | design and implementation of a constrained model predictive control approach for unmanned aerial vehicles |
| topic | Quadcopter UAV constrained MPC external disturbance control design real-time implementation |
| url | https://ieeexplore.ieee.org/document/9868004/ |
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