A Model Predictive Control (MPC) approach on unit quaternion orientation based quadrotor for trajectory tracking

A Model Predictive Control (MPC) approach on unit quaternion orientation based quadrotor for trajectory tracking

The objective of this paper is to introduce with a quaternion orientation based quadrotor that can be controlled by Model Predictive Control (MPC). As MPC offers promising performance in different industrial applications, quadrotor can be another suitable platform for the application of MPC. The pr...

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Main Authors: Maidul, Isla, Okasha, Mohamed Elsayed Aly Abd Elaziz, Sulaeman, Erwin
Format: Article
Language:English
English
Published: nstitute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 2019
Subjects:
TL Motor vehicles. Aeronautics. Astronautics
TL500 Aeronautics
Online Access:http://irep.iium.edu.my/74024/
http://irep.iium.edu.my/74024/
http://irep.iium.edu.my/74024/
http://irep.iium.edu.my/74024/1/A%20Model%20Predictive%20Control%20%28MPC%29%20Approach%20on%20Unit%20Quaternion%20Orientation%20Based%20Quadrotor%20for%20Trajectory%20Tracking.pdf
http://irep.iium.edu.my/74024/7/74024_A%20Model%20Predictive%20Control%20approach%20on%20unit%20quaternion%20orientation_SCOPUS.pdf
id iium-74024
recordtype eprints
spelling iium-740242020-03-09T08:09:02Z http://irep.iium.edu.my/74024/ A Model Predictive Control (MPC) approach on unit quaternion orientation based quadrotor for trajectory tracking Maidul, Isla Okasha, Mohamed Elsayed Aly Abd Elaziz Sulaeman, Erwin TL Motor vehicles. Aeronautics. Astronautics TL500 Aeronautics The objective of this paper is to introduce with a quaternion orientation based quadrotor that can be controlled by Model Predictive Control (MPC). As MPC offers promising performance in different industrial applications, quadrotor can be another suitable platform for the application of MPC. The present study consistently adopts unit quaternion approach for quadrotor orientation in order to avoid any axes overlapping problem, widely known as singularity problem whereas Euler angle orientation approach is unable to resolve so. MPC works based on the minimal cost function that includes the attitude error and consequently, the cost function requires quaternion error in order to proceed with process of MPC. Therefore, the main contribution of this study is to introduce a newly developed cost function for MPC because by definition, quaternion error is remarkably different from the attitude error of Euler angle. As a result, a unit quaternion based quadrotor with MPC can ascertain a smooth singularityfree flight that is influenced by model uncertainty. MATLAB and Simulink environment has been used to validate the cost function for quaternion by simulating several trajectories. nstitute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 2019-07-26 Article PeerReviewed application/pdf en http://irep.iium.edu.my/74024/1/A%20Model%20Predictive%20Control%20%28MPC%29%20Approach%20on%20Unit%20Quaternion%20Orientation%20Based%20Quadrotor%20for%20Trajectory%20Tracking.pdf application/pdf en http://irep.iium.edu.my/74024/7/74024_A%20Model%20Predictive%20Control%20approach%20on%20unit%20quaternion%20orientation_SCOPUS.pdf Maidul, Isla and Okasha, Mohamed Elsayed Aly Abd Elaziz and Sulaeman, Erwin (2019) A Model Predictive Control (MPC) approach on unit quaternion orientation based quadrotor for trajectory tracking. International Journal of Control, Automation and Systems, 17 (11). pp. 2819-2832. ISSN 1598-6446 E-ISSN 2005-4092 https://link.springer.com/article/10.1007%2Fs12555-018-0860-9 http://dx.doi.org/10.1007/s12555-018-0860-9
repository_type Digital Repository
institution_category Local University
institution International Islamic University Malaysia
building IIUM Repository
collection Online Access
language English
English
topic TL Motor vehicles. Aeronautics. Astronautics
TL500 Aeronautics
spellingShingle TL Motor vehicles. Aeronautics. Astronautics
TL500 Aeronautics
Maidul, Isla
Okasha, Mohamed Elsayed Aly Abd Elaziz
Sulaeman, Erwin
A Model Predictive Control (MPC) approach on unit quaternion orientation based quadrotor for trajectory tracking
description The objective of this paper is to introduce with a quaternion orientation based quadrotor that can be controlled by Model Predictive Control (MPC). As MPC offers promising performance in different industrial applications, quadrotor can be another suitable platform for the application of MPC. The present study consistently adopts unit quaternion approach for quadrotor orientation in order to avoid any axes overlapping problem, widely known as singularity problem whereas Euler angle orientation approach is unable to resolve so. MPC works based on the minimal cost function that includes the attitude error and consequently, the cost function requires quaternion error in order to proceed with process of MPC. Therefore, the main contribution of this study is to introduce a newly developed cost function for MPC because by definition, quaternion error is remarkably different from the attitude error of Euler angle. As a result, a unit quaternion based quadrotor with MPC can ascertain a smooth singularityfree flight that is influenced by model uncertainty. MATLAB and Simulink environment has been used to validate the cost function for quaternion by simulating several trajectories.
format Article
author Maidul, Isla
Okasha, Mohamed Elsayed Aly Abd Elaziz
Sulaeman, Erwin
author_facet Maidul, Isla
Okasha, Mohamed Elsayed Aly Abd Elaziz
Sulaeman, Erwin
author_sort Maidul, Isla
title A Model Predictive Control (MPC) approach on unit quaternion orientation based quadrotor for trajectory tracking
title_short A Model Predictive Control (MPC) approach on unit quaternion orientation based quadrotor for trajectory tracking
title_full A Model Predictive Control (MPC) approach on unit quaternion orientation based quadrotor for trajectory tracking
title_fullStr A Model Predictive Control (MPC) approach on unit quaternion orientation based quadrotor for trajectory tracking
title_full_unstemmed A Model Predictive Control (MPC) approach on unit quaternion orientation based quadrotor for trajectory tracking
title_sort model predictive control (mpc) approach on unit quaternion orientation based quadrotor for trajectory tracking
publisher nstitute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
publishDate 2019
url http://irep.iium.edu.my/74024/
http://irep.iium.edu.my/74024/
http://irep.iium.edu.my/74024/
http://irep.iium.edu.my/74024/1/A%20Model%20Predictive%20Control%20%28MPC%29%20Approach%20on%20Unit%20Quaternion%20Orientation%20Based%20Quadrotor%20for%20Trajectory%20Tracking.pdf
http://irep.iium.edu.my/74024/7/74024_A%20Model%20Predictive%20Control%20approach%20on%20unit%20quaternion%20orientation_SCOPUS.pdf
first_indexed 2023-09-18T21:44:55Z
last_indexed 2023-09-18T21:44:55Z
_version_ 1777413385891086336

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