Enabling an unmanned aircraft system (UAS) to follow swift changes in the waypoints of a trajectory is a challenging task when performed in real-time. By employing a dynamic system model and solving a finite-horizon optimal control problem, Model Predictive Control (MPC) emerges as an effective potential solution for this scenario. However, the actual model of a UAS is rarely precisely known, even more if the UAS is a commercial off-the-shelf platform with internal controllers running onboard an embedded autopilot. To address this challenge, a UAS model identification procedure is performed by collecting input/output data from experimental flights. The obtained dynamic model of the UAS is utilized for the real-time implementation of an MPC for translational motion stabilization. To validate our approach, real-world experiments are conducted to make translational velocities close to the physical constraints of the UAS. The MPC strategy is compared to a proportional–integral–derivative (PID). Results indicate the superiority of the proposed MPC in terms of accuracy and control performance.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Real-time Implementation of Model Predictive Control for Fast Trajectory Tracking of a Quad Rotorcraft UAS




    Erscheinungsdatum :

    11.12.2023


    Format / Umfang :

    214453 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    The Quad-rotor Rotorcraft

    Castillo, Pedro / Lozano, Rogelio / Dzul, Alejandro E. | Springer Verlag | 2005


    Fast Trajectory Tracking for Commercial Off-the-Shelf UAS Using Model Predictive Control: Real-Time Implementation and Performance Analysis

    Mirhajianmoghadam, Hengameh / Grijalva, Nicholas / Garcia Carrillo, Luis Rodolfo | IEEE | 2024


    Quad rotorcraft control : vision-based hovering and navigation

    Garcia Carrillo, Luis Rodolfo / Dzul López, Alejandro Enrique / Lozano, Rogelio et al. | TIBKAT | 2013


    Modeling the Quad-Rotor Mini-Rotorcraft

    García Carrillo, Luis Rodolfo / Dzul López, Alejandro Enrique / Lozano, Rogelio et al. | Springer Verlag | 2013


    Real-Time Tracking of Quad-Marked Surfaces

    Guskov, I. / Bryant, B. | British Library Conference Proceedings | 2002