MODEL PREDICTIVE CONTROL-BASED OPTIMAL TRAJECTORY TRACKING IN AUTONOMOUS QUADROTOR SYSTEM
Date
2024-03
Journal Title
Journal ISSN
Volume Title
Publisher
I.O.E
Abstract
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.
Description
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.
Keywords
Reference trajectory, Trajectory tracking, constraints, Pixhawk Flight Controller