Application of Nonlinear Model Predictive Control to Quadcopter Equipped with Internal Control System

T. Kimura, K. Hoshino, Y. Asano, Akihiko Honda, Norizumi Motooka, T. Ohtsuka
{"title":"Application of Nonlinear Model Predictive Control to Quadcopter Equipped with Internal Control System","authors":"T. Kimura, K. Hoshino, Y. Asano, Akihiko Honda, Norizumi Motooka, T. Ohtsuka","doi":"10.23919/SICEISCS54350.2022.9754519","DOIUrl":null,"url":null,"abstract":"The object used in this study is an unmanned aerial vehicle (a quadcopter) equipped with an internal control system that has a target position and yaw angle as input commands. Simple internal control systems in quadcopters often show limited performance, especially when quadcopters attempt to track trajectories with large velocities. This study applies a nonlinear model predictive control (NMPC) method to improve the tracking performance of quadcopters equipped with simple internal control systems. The NMPC is introduced because it can take the motion of the quadcopter arising from the internal control system into consideration. This study also handles the control of the yaw angle in addition to the tracking of the position, which is required in some applications, such as aerial photography and surveillance. We evaluated the proposed method through a simulation with the task of tracking a sinusoidal trajectory and facing its direction of movement. In the simulation, the proposed method showed a performance that could not be accomplished using only the internal control system. This result indicates that determining the command with NMPC improves the tracking performance of the position.","PeriodicalId":391189,"journal":{"name":"2022 SICE International Symposium on Control Systems (SICE ISCS)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-03-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 SICE International Symposium on Control Systems (SICE ISCS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/SICEISCS54350.2022.9754519","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0

Abstract

The object used in this study is an unmanned aerial vehicle (a quadcopter) equipped with an internal control system that has a target position and yaw angle as input commands. Simple internal control systems in quadcopters often show limited performance, especially when quadcopters attempt to track trajectories with large velocities. This study applies a nonlinear model predictive control (NMPC) method to improve the tracking performance of quadcopters equipped with simple internal control systems. The NMPC is introduced because it can take the motion of the quadcopter arising from the internal control system into consideration. This study also handles the control of the yaw angle in addition to the tracking of the position, which is required in some applications, such as aerial photography and surveillance. We evaluated the proposed method through a simulation with the task of tracking a sinusoidal trajectory and facing its direction of movement. In the simulation, the proposed method showed a performance that could not be accomplished using only the internal control system. This result indicates that determining the command with NMPC improves the tracking performance of the position.
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
非线性模型预测控制在四轴飞行器内控系统中的应用
本研究使用的对象是一架无人驾驶飞行器(四轴飞行器),其内部控制系统以目标位置和偏航角作为输入命令。简单的内部控制系统在四轴飞行器往往显示有限的性能,特别是当四轴飞行器试图跟踪轨迹与大的速度。本研究采用非线性模型预测控制(NMPC)方法来改善配备简单内控系统的四旋翼飞行器的跟踪性能。引入NMPC是因为它可以考虑由内部控制系统引起的四轴飞行器的运动。在航拍和监视等应用中,除了位置跟踪之外,本研究还处理了偏航角的控制。我们通过跟踪正弦轨迹并面对其运动方向的仿真任务来评估所提出的方法。仿真结果表明,该方法具有仅使用内部控制系统无法实现的性能。这表明用NMPC确定命令可以提高位置的跟踪性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 去求助
来源期刊
自引率
0.00%
发文量
0
期刊最新文献
Bone surface extraction and dynamic tracking from ultrasound images by semantic segmentation Aggressive Nonlinear Regulators for Nominally Linear Systems with Uncertainties and Nonlinearities A thermal model-based engine on-off control in HEVs A Nonlinear Discrete-time Model for Controlled Moment Gyroscope Unsupervised Domain Adaptation for Environmental Recognition in Crane Operations
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1