<abstract xmlns="http://www.w3.org/1999/xhtml">

In this paper, the design and implementation of a nonlinear model-based predictive controller (NMPC) for predefined trajectory tracking and to minimize the control effort of a smartphone-based quadrotor are developed. The optimal control actions are calculated in each iteration by means of an optimal control algorithm based on the non-linear model of the quadrotor, considering some aerodynamic effects. Control algorithm implementation and simulation tests are executed on a smartphone using the CasADi framework. In addition, a technique for estimating the energy consumed based on control signals is presented. NMPC controller performance was compared with other works developed towards the control of quadrotors, based on an H∞ controller and an LQI controller, and using three predefined trajectories, where the NMPC average tracking error was around 50% lower, and average estimated power and energy consumption slightly higher, with respect to the H∞ and LQI controllers.
</abstract>

In this paper, the design and implementation of a nonlinear model-based predictive controller (NMPC) for predefined trajectory tracking and to minimize the control effort of a smartphone-based quadrotor are developed. The optimal control actions are calculated in each iteration by means of an optimal control algorithm based on the non-linear model of the quadrotor, considering some aerodynamic effects. Control algorithm implementation and simulation tests are executed on a smartphone using the CasADi framework. In addition, a technique for estimating the energy consumed based on control signals is presented. NMPC controller performance was compared with other works developed towards the control of quadrotors, based on an H∞ controller and an LQI controller, and using three predefined trajectories, where the NMPC average tracking error was around 50% lower, and average estimated power and energy consumption slightly higher, with respect to the H∞ and LQI controllers.

Non-Linear Model-Based Predictive Control For Trajectory Tracking And Control Effort Minimization In A Smartphone-Based Quadrotor

Journal of Automation, Mobile Robotics and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

In this paper, the design and implementation of a nonlinear model-based predictive controller (NMPC) for predefined trajectory tracking and to minimize the...

Non-Linear Model-Based Predictive Control For Trajectory Tracking And Control Effort Minimization In A Smartphone-Based Quadrotor

Online veröffentlicht: 20. Okt. 2023

Seitenbereich: 13 - 18

Eingereicht: 15. Juni 2021

Akzeptiert: 06. Sept. 2022

DOI: https://doi.org/10.14313/jamris/4-2022/28

Schlüsselwörter
Quadrotor, Model‐based Predictive Control, Smartphone, Trajectory Tracking, Energy Consumption

© 2022 Luis García et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Non-Linear Model-Based Predictive Control For Trajectory Tracking And Control Effort Minimization In A Smartphone-Based Quadrotor

Online veröffentlicht: 20. Okt. 2023

Seitenbereich: 13 - 18

Eingereicht: 15. Juni 2021

Akzeptiert: 06. Sept. 2022

DOI: https://doi.org/10.14313/jamris/4-2022/28

SchlüsselwörterQuadrotor, Model‐based Predictive Control, Smartphone, Trajectory Tracking, Energy Consumption

© 2022 Luis García et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Schlüsselwörter
Quadrotor, Model‐based Predictive Control, Smartphone, Trajectory Tracking, Energy Consumption