Browsing by Author "Thapa, Prasanna Pratap"

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    MODEL PREDICTIVE CONTROL-BASED OPTIMAL TRAJECTORY TRACKING IN AUTONOMOUS QUADROTOR SYSTEM
    (I.O.E, 2024-03) Simkhada, Dipesh; Bhatta, Hemant; Karki, Krishna Bahadur; Thapa, Prasanna Pratap; Luitel, Mahesh Chandra
    Optimal trajectory tracking through nonlinear optimization is a computational process that aims to track the reference path for a system, considering the dynamics and objectives of system along with the constraints that are provided. Among current approaches in trajectory tracking formulation as an optimization problem, this paper describes Model Predictive Control( MPC), an approach that provides a continually evolving optimized trajectory tracking system that also respects system dynamics and constraints. The project showcases both the numerical simulation for the MPC implemented for reference trajectory tracking followed by an implementation on the actual quadcopter. However, in the actual hardware implementation flight test have been conducted in the quadrotor where only the attitude has been controlled in the PX4 firmware directly using Model Predictive Control. In this paper, the MPC-based control technique is used for trajectory tracking of the quadrotor model in different types of trajectories. For numerical simulation, non linear model has been developed and analyzed using the Finite-length time horizon control referred to as Model Predictive Control whereas, for SITL(Software-in-The-Loop) simulation, linear model of MPC have been used. For the flight test, to achieve efficient computational cost for the Pixhawk Flight Controller, the linear model has been implemented to analyze the attitude control shown by the quadrotor system.