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2024 | OriginalPaper | Chapter

Reference Tracking of Quadrotor Using Modified Nonlinear Model Predictive Control Based on Nonlinear Disturbance Observer

Authors : S. Subchan, Leila Rizky Amalia, Tahiyatul Asfihani, Heri Purnawan

Published in: Applied and Computational Mathematics

Publisher: Springer Nature Singapore

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Abstract

This paper proposes a modified nonlinear model predictive control based on nonlinear disturbance observer (NDO-NMPC) for reference tracking of a quadrotor. The quadrotor model is nonlinear with a multi-input-multi-output (MIMO) system type. This study’s discussed problem is requiring a quadrotor to track the given trajectories. The disturbances considered in the system are constant and step disturbances. The unknown disturbances are estimated using a nonlinear disturbance observer. Furthermore, the disturbance estimations are added to the system’s prediction of NMPC. Based on the simulation results, the NDO can provide good estimation results for estimating the system disturbances. According to the performed numerical simulations, the optimal inputs obtained satisfy the limitations of the defined constraints. In addition, the proposed NDO-NMPC can overcome external disturbances, so the outputs of NDO-NMPC are appropriate for the expected results.

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Metadata
Title
Reference Tracking of Quadrotor Using Modified Nonlinear Model Predictive Control Based on Nonlinear Disturbance Observer
Authors
S. Subchan
Leila Rizky Amalia
Tahiyatul Asfihani
Heri Purnawan
Copyright Year
2024
Publisher
Springer Nature Singapore
Book
Applied and Computational Mathematics

Print ISBN: 978-981-9721-35-1

Electronic ISBN: 978-981-9721-36-8

Copyright Year: 2024

DOI
https://doi.org/10.1007/978-981-97-2136-8_8

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