Dynamic And Autonomous Control of Mini

Aerial Vehicle Using Model Predictive Control

Name: Maidul Islam

Matric No: G1527189

Name of Program: Masters in Mechanical Engineering (by Research)

Supervisor: Mohamed Elsayed Aly Abd Elaziz Okasha

Co-supervisor: Moumen Mohammed Mahmoud Idres

Scopes
 Motivation
 Introduction
 Literature Review
 Objectives
 Dynamic Model Design
 Controller Design
 Results
 Accomplishments
 Publication
 Future work & Conclusion
Motivation

Highly nonlinear and multivariable

Nonlinear coupling between actuators and the DOFs

Incapability of controlling the system inputs

Performance degradation in non-nominal conditions

Introduction
A quadrotor means a rigid cross-linked
structure that has four independent rotors
with fixed pitched propellers. It is
considered under one of the classifications
of UAV (Unmanned Aerial Vehicle).
Literature Review
Controllers for MAV Quadcopter

Learning
Linear Nonlinear Hybrid
Based
Feedback
PID linearization Fuzzy Logic PID+LQR

Model predictive
control (MPC) PID +
LQR Neural Network
Backstepping
Backstepping

Human Based PID + Sliding

H-infinity Sliding Mode Learning Mode
Objectives
The objective is to design a controller that will have following
characteristics

Stability during noise and disturbances

Can estimate the states of dynamic models

Can handle the constraints at input and output to the system

Dynamic Model

Parameters and initial conditions for simulation.

Roll (Rotation along X axis denoted by )
Symbol Description Value Unit
 Pitch (Rotation along Y axis denoted by )
Moment of inertia kg.m
 Yaw (Rotation along Z axis denoted by )
2

Arm length
Body0.23
Frame M
Control Input for Upward motion, Roll, Pitch and Yaw:
Inertia of motor 6e-5 kg.m2
Thrust coefficient 3.13e-5
  Ns2
Moment coefficient 7.5e-7 Nms2
Mass of quadrotor 0.65 Kg
Gravity 9.81 ms2

Aerodynamic thrust drag coefficient Earth-fixed Frame Ns/m

Aerodynamic moment drag coefficient Nm.s

Dynamic Model
Transformation Matrix
Coordinate Transformation Matrix (R) Remarks
System
It doesn’t depend on
Quaternion any orientation
system as Euler
depends.
The given
transformation matrix
Here, represents cos and represents sin is applicable for Z-Y-X
Euler or 3-2-1 orientation.
Similarly, it has 11
more rotational
matrix.
Dynamic Model
Translational Motion

To describe the translational motion of the quadcopter, the following equations are to be
described
  
 
where, gravitational force
the thrust of motors
aerodynamic drag force
Dynamic Model
Rotational Motion

To describe the rotational motion of the quadcopter, the following equations are to be described
𝐼  𝜔=−𝜔×
˙ 𝐼 𝜔− 𝑀 𝑔 +𝑀 𝑎 +𝑀gyroscopic
  
where, 𝑏 moment
  𝑝˙ 𝑝 𝑝 𝑝 0 𝑙𝑈 2 𝑝
() () () () ( )( ) ()
𝐼 𝑞˙ =− 𝑞 × 𝐼 𝑞 − 𝑞 × aerodynamic
𝑟˙ 𝑟 𝑟 𝑟
0 + 𝑙 𝑈 3moment
𝐼𝑟 𝜔
−𝑘 𝑟 𝑞
𝑈 4 acting on𝑟the body frame
the𝑟 moment

= velocity in inertial frame

= = Motors relative speed

Dynamic Model
StatesModel Euler (12 states) Quaternion (13 states)

 
   
 
Nonlinear
Control Techniques
PD Controller (in Euler Angle)

The general form of PD  controller can be expressed by following equations

Control Inputs:
  Where, desired roll and desired pitch are derived as:
 
 
Control Techniques
PD Controller (in Quaternion)
 

  Where, desired roll and desired pitch are derived as:

Control Inputs:
 
 
Control Techniques
LQR Controller
  general form of LQR controller can be expressed by following equations
The

If the model is linearized at an nominal point () where and others states are considered as
zero with

Now to have a stabilize control system, a feedback control is to be designed by following

equation.

So, the closed loop control system appears as

Where,
Q is considered as a 12×12 semi-
Here, is the feedback gain matrix. It has been calculated by minimizing the cost function positive definite matrix and
R is a 12×4 positive definite matrix
  for this quadrotor.
Control Techniques
Model Predictive Control
 
A system can be written in the form,  
Where,

k is sample time, is the state matrix, is

A Linear Quadratic Estimator is applied for the input matrix, is system outputs, is output
algorithm to reach future states upto as follows: matrix and is feedforward matrix.

  ∆ 𝑥𝑘 𝐼 0 0 ⋯ 0 0 ∆ 𝑢𝑘

( ∆ 𝑥 𝑘 +1
∆ 𝑥 𝑘 +2
⋮ )( ) (
∆ 𝑥 𝑘 +𝑁 − 1
= 𝐴
𝐴

⋮
2

𝐴 𝑁 −1
∆ 𝑥𝑘 +

𝐴
𝐵
𝐴𝐵
⋮
𝑁 −2
𝐵
0
𝐵
⋮
𝐴𝑁 −3 𝐵
⋯
⋯
⋱
⋯
0
0
⋮
𝐵
0
0
⋮
0
)( ∆ 𝑢𝑘 + 1
∆ 𝑢𝑘 + 2
⋮
∆ 𝑢𝑘 + 𝑁 − 1
)
Similarly, the system outputs can be derived as follows.
  ∆ 𝑦𝑘 𝐶 0 0 ⋯ 0 ∆ 𝑥𝑘 𝐷 0 0 ⋯ 0 ∆ 𝑢𝑘

( ∆ 𝑦 𝑘 +1
∆ 𝑦 𝑘 +2
⋮ )(
∆ 𝑦 𝑘 +𝑁 − 1
=
0
0
⋮
0
𝐶
0
⋮
0
0
𝐶
⋮
0
⋯
⋯
⋱
⋯
0
0
⋮
𝐶
)( ∆ 𝑥 𝑘 +1
∆ 𝑥 𝑘 +2
⋮ )(
∆ 𝑥 𝑘 + 𝑁 −1
+
0
0
⋮
0
𝐷
0
⋮
0
0
𝐷
⋮
0
⋯
⋯
⋱
⋯
0
0
⋮
𝐷
)( ∆ 𝑢 𝑘 +1
∆ 𝑢 𝑘 +2
⋮
∆ 𝑢𝑘 + 𝑁 − 1
)
Simulated Results

Performances of PD, LQR and MPC (in Euler)

Figure: Circular Trajectory Figure: Helix Trajectory

Simulated Results
Performances of PD, LQR and MPC (in Euler)
Circular Trajectory
Helix Trajectory

  Figure 6. vs , vs and vs in circular trajectory

  Figure 7. vs , vs and vs in helix trajectory
Simulated Results

Performances of PD and LQR (in Quaternion)

Figure: Circular Trajectory Figure: Helix Trajectory

Simulated Results
Performances of PD and LQR (in Quaternion)
Circular Trajectory
Helix Trajectory

  Figure 6. vs , vs and vs in circular trajectory

  Figure 7. vs , vs and vs in helix trajectory
Accomplishment

 Research proposal
 Comprehensive Exam
 Thesis writing
 Introduction
 Literature Review
 Dynamic Model
 Control Strategy (Except MPC in Quaternion)

 Publication
 ICOM Conference (IOP Journal)
 AEROS Conference (IOP Journal)
Future work and Conclusion
• MPC in Quaternion
• Some improvement
• LQG instead of LQR to avoid disturbances and noise