Work

Cascade model predictive control for enhancing UAV quadcopter stability and energy efficiency in wind turbulent mangrove forest environment

Year: 2024

Type: article

Abstract: Unmanned aerial vehicle (UAV) modelling and control, particularly in quadrotors with high position-orientation coupling, present significant challenges for practical applications, such as environmental monitoring missions in windy mangrove forests. Conventional control strategies like the PID controller, often employed in simulations due to their simplicity, often underperform in real-world scenarios due to their linear assumptions. This research proposes a novel hierarchical cascaded model predictive control system for altitude, attitude, and battery efficiency for quadrotor in mangrove area. This control system addresses computational complexity by decomposing the overall MPC strategy into two distinct schemes, one for translational displacements and another for rotational movements, enhancing the UAV's resilience to wind turbulence, a significant disturbance factor in mangrove environments. Rigorous simulation and experiment test flight involving complex trajectory tracking and windy conditions demonstrate the proposed controller's superior performance compared to conventional PID controller, particularly in terms of stability, disturbance rejection, underscoring its potential for UAV applications in challenging environments.

Source: e-Prime - Advances in Electrical Engineering Electronics and Energy

DOI: 10.1016/j.prime.2024.100836

Authors: Mustapha Amine Sadi, Annisa Jamali, Abang Mohammad Nizam bin Abang Kamaruddin, Vivien Yeo Shu Jun

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Affordable and clean energy

Open Access status: gold

Estimated APC paid: $1,400

Funder: Universiti Malaysia Sarawak