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Trajectory tracking of quaternion based quadrotor using model predictive control

The aim of this paper is to introduce the trajectory tracking with a quaternion based quadrotor operation using model predictive con-trol (MPC). Since the efficacy of MPC on a system under noise and disturbance has been distinguished, it is a fair and successful attempt to apply MPC on the quaternio...

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Main Authors: Islam, Maidul, Okasha, Mohamed Elsayed Aly Abd Elaziz, Idres, Moumen, Mansor, Hasmah
Format: Article
Language:English
English
Published: Science Publishing Corporation Inc 2018
Subjects:
TA Engineering (General). Civil engineering (General)
TJ Mechanical engineering and machinery
TL Motor vehicles. Aeronautics. Astronautics
Online Access:http://irep.iium.edu.my/68029/1/68029_Trajectory%20tracking%20of%20quaternion.pdf
http://irep.iium.edu.my/68029/2/68029_Trajectory%20tracking%20of%20quaternion_SCOPUS.pdf
http://irep.iium.edu.my/68029/
https://www.sciencepubco.com/index.php/ijet/article/view/21343/10104
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spelling my.iium.irep.680292018-12-06T02:52:41Z http://irep.iium.edu.my/68029/ Trajectory tracking of quaternion based quadrotor using model predictive control Islam, Maidul Okasha, Mohamed Elsayed Aly Abd Elaziz Idres, Moumen Mansor, Hasmah TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery TL Motor vehicles. Aeronautics. Astronautics The aim of this paper is to introduce the trajectory tracking with a quaternion based quadrotor operation using model predictive con-trol (MPC). Since the efficacy of MPC on a system under noise and disturbance has been distinguished, it is a fair and successful attempt to apply MPC on the quaternion based quadrotor, which is a quite well-known system with uncertainties during operation. Quaternion approaches singularity-free orientation that is advantageous to design any trajectory for quadrotor wherein roll or pitch angle reaches at 90o. As a quaternion, with its four-tuple characteristics that incorporate vector elements, is different from Euler-angle orientation, a new cost function has been developed for the respective MPC controller. In order to achieve singularity-free ori-entations and abate the model infidelity of the system, the quaternion and MPC algorithm have been incorporated for quadrotor flight. Simulation based results elucidate the success of trajectory tracking of quaternion based dynamics of quadrotor using MPC approach. Science Publishing Corporation Inc 2018 Article PeerReviewed application/pdf en http://irep.iium.edu.my/68029/1/68029_Trajectory%20tracking%20of%20quaternion.pdf application/pdf en http://irep.iium.edu.my/68029/2/68029_Trajectory%20tracking%20of%20quaternion_SCOPUS.pdf Islam, Maidul and Okasha, Mohamed Elsayed Aly Abd Elaziz and Idres, Moumen and Mansor, Hasmah (2018) Trajectory tracking of quaternion based quadrotor using model predictive control. International Journal of Engineering and Technology (UAE), 7 (4.13). pp. 125-128. ISSN 2227-524X https://www.sciencepubco.com/index.php/ijet/article/view/21343/10104 10.14419/ijet.v7i4.13.21343
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
English
topic TA Engineering (General). Civil engineering (General)
TJ Mechanical engineering and machinery
TL Motor vehicles. Aeronautics. Astronautics
spellingShingle TA Engineering (General). Civil engineering (General)
TJ Mechanical engineering and machinery
TL Motor vehicles. Aeronautics. Astronautics
Islam, Maidul
Okasha, Mohamed Elsayed Aly Abd Elaziz
Idres, Moumen
Mansor, Hasmah
Trajectory tracking of quaternion based quadrotor using model predictive control
description The aim of this paper is to introduce the trajectory tracking with a quaternion based quadrotor operation using model predictive con-trol (MPC). Since the efficacy of MPC on a system under noise and disturbance has been distinguished, it is a fair and successful attempt to apply MPC on the quaternion based quadrotor, which is a quite well-known system with uncertainties during operation. Quaternion approaches singularity-free orientation that is advantageous to design any trajectory for quadrotor wherein roll or pitch angle reaches at 90o. As a quaternion, with its four-tuple characteristics that incorporate vector elements, is different from Euler-angle orientation, a new cost function has been developed for the respective MPC controller. In order to achieve singularity-free ori-entations and abate the model infidelity of the system, the quaternion and MPC algorithm have been incorporated for quadrotor flight. Simulation based results elucidate the success of trajectory tracking of quaternion based dynamics of quadrotor using MPC approach.
format Article
author Islam, Maidul
Okasha, Mohamed Elsayed Aly Abd Elaziz
Idres, Moumen
Mansor, Hasmah
author_facet Islam, Maidul
Okasha, Mohamed Elsayed Aly Abd Elaziz
Idres, Moumen
Mansor, Hasmah
author_sort Islam, Maidul
title Trajectory tracking of quaternion based quadrotor using model predictive control
title_short Trajectory tracking of quaternion based quadrotor using model predictive control
title_full Trajectory tracking of quaternion based quadrotor using model predictive control
title_fullStr Trajectory tracking of quaternion based quadrotor using model predictive control
title_full_unstemmed Trajectory tracking of quaternion based quadrotor using model predictive control
title_sort trajectory tracking of quaternion based quadrotor using model predictive control
publisher Science Publishing Corporation Inc
publishDate 2018
url http://irep.iium.edu.my/68029/1/68029_Trajectory%20tracking%20of%20quaternion.pdf
http://irep.iium.edu.my/68029/2/68029_Trajectory%20tracking%20of%20quaternion_SCOPUS.pdf
http://irep.iium.edu.my/68029/
https://www.sciencepubco.com/index.php/ijet/article/view/21343/10104
_version_ 1643618300077277184
score 13.211869

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