Non-Linear Model Predictive Control Using CasADi Package for Trajectory Tracking of Quadrotor

Mohamed Elhesasy, Tarek N. Dief (), Mohammed Atallah, Mohamed Okasha, Mohamed M. Kamra, Shigeo Yoshida and Mostafa A. Rushdi ()
Additional contact information
Mohamed Elhesasy: College of Engineering, UAE University, Al-Ain P.O. Box 15551, United Arab Emirates
Tarek N. Dief: College of Engineering, UAE University, Al-Ain P.O. Box 15551, United Arab Emirates
Mohammed Atallah: College of Engineering, UAE University, Al-Ain P.O. Box 15551, United Arab Emirates
Mohamed Okasha: College of Engineering, UAE University, Al-Ain P.O. Box 15551, United Arab Emirates
Mohamed M. Kamra: College of Engineering, UAE University, Al-Ain P.O. Box 15551, United Arab Emirates
Shigeo Yoshida: Research Institute for Applied Mechanics (RIAM), Kyushu University, Fukuoka 816-8580, Japan
Mostafa A. Rushdi: Research Institute for Applied Mechanics (RIAM), Kyushu University, Fukuoka 816-8580, Japan

Energies, 2023, vol. 16, issue 5, 1-17

Abstract: In this paper, we present the development of a non-linear model predictive controller for the trajectory tracking of a quadrotor using the CasADi optimization framework. The non-linear dynamic model of the quadrotor was derived using Newton–Euler equations, and the control algorithm and drone dynamics were wrapped in Matlab. The proposed controller was tested by simulating the tracking of a 3D helical reference trajectory, and its efficiency was evaluated in terms of numerical performance and tracking accuracy. The results showed that the proposed controller leads to faster computational times, approximately 20 times faster than the Matlab toolbox (nlmpc), and provides better tracking accuracy than both the Matlab toolbox and classical PID controller. The robustness of the proposed control algorithm was also tested and verified under model uncertainties and external disturbances, demonstrating its ability to effectively eliminate tracking errors.

Keywords: model predictive control (MPC); non-linear MPC (NLMPC); CasADi; quadrotor; PID; Simulink (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2023
References: View references in EconPapers View complete reference list from CitEc
Citations:

Downloads: (external link)
https://www.mdpi.com/1996-1073/16/5/2143/pdf (application/pdf)
https://www.mdpi.com/1996-1073/16/5/2143/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jeners:v:16:y:2023:i:5:p:2143-:d:1077225

Access Statistics for this article

Energies is currently edited by Ms. Agatha Cao

More articles in Energies from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().