Attitude Control System for Quadrotor Using Robust Monte Carlo Model Predictive Control
Monte Carlo Model Predictive Control (MCMPC) is a kind of non-linear Model Predictive Control (MPC) that determines control inputs using the Monte Carlo method. The Monte Carlo method used in MCMPC can handle discontinuous phenomena, and there have been reports of its application in control systems...
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-11-01
|
| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/13/11/443 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1846154823583399936 |
|---|---|
| author | Kai Masuda Kenji Uchiyama |
| author_facet | Kai Masuda Kenji Uchiyama |
| author_sort | Kai Masuda |
| collection | DOAJ |
| description | Monte Carlo Model Predictive Control (MCMPC) is a kind of non-linear Model Predictive Control (MPC) that determines control inputs using the Monte Carlo method. The Monte Carlo method used in MCMPC can handle discontinuous phenomena, and there have been reports of its application in control systems for quadrotors, where the objective is to maintain the stability of the attitude during collisions. However, as with conventional MPC, concerns remain about control performance degradation due to modeling errors and external disturbances such as unexpected wind gusts. In this study, we propose a novel Robust Monte Carlo Model Predictive Control (RMCMPC), which improves the robustness of MCMPC by considering the hypersurface known from the Sliding Mode Control (SMC) theory. The proposed RMCMPC is applied to a quadrotor attitude control system, and its effectiveness is validated through numerical simulations. |
| format | Article |
| id | doaj-art-15efb6974d424f2ab96834c2c2e714f5 |
| institution | Kabale University |
| issn | 2076-0825 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-15efb6974d424f2ab96834c2c2e714f52024-11-26T17:42:28ZengMDPI AGActuators2076-08252024-11-01131144310.3390/act13110443Attitude Control System for Quadrotor Using Robust Monte Carlo Model Predictive ControlKai Masuda0Kenji Uchiyama1Department of Aerospace Engineering, College of Science and Technology, Nihon University, Chiba 274-8501, JapanDepartment of Aerospace Engineering, College of Science and Technology, Nihon University, Chiba 274-8501, JapanMonte Carlo Model Predictive Control (MCMPC) is a kind of non-linear Model Predictive Control (MPC) that determines control inputs using the Monte Carlo method. The Monte Carlo method used in MCMPC can handle discontinuous phenomena, and there have been reports of its application in control systems for quadrotors, where the objective is to maintain the stability of the attitude during collisions. However, as with conventional MPC, concerns remain about control performance degradation due to modeling errors and external disturbances such as unexpected wind gusts. In this study, we propose a novel Robust Monte Carlo Model Predictive Control (RMCMPC), which improves the robustness of MCMPC by considering the hypersurface known from the Sliding Mode Control (SMC) theory. The proposed RMCMPC is applied to a quadrotor attitude control system, and its effectiveness is validated through numerical simulations.https://www.mdpi.com/2076-0825/13/11/443Model Predictive Controlrobust controlMonte Carlo Model Predictive Controlsliding mode controlintegral sliding mode controlquadrotor |
| spellingShingle | Kai Masuda Kenji Uchiyama Attitude Control System for Quadrotor Using Robust Monte Carlo Model Predictive Control Actuators Model Predictive Control robust control Monte Carlo Model Predictive Control sliding mode control integral sliding mode control quadrotor |
| title | Attitude Control System for Quadrotor Using Robust Monte Carlo Model Predictive Control |
| title_full | Attitude Control System for Quadrotor Using Robust Monte Carlo Model Predictive Control |
| title_fullStr | Attitude Control System for Quadrotor Using Robust Monte Carlo Model Predictive Control |
| title_full_unstemmed | Attitude Control System for Quadrotor Using Robust Monte Carlo Model Predictive Control |
| title_short | Attitude Control System for Quadrotor Using Robust Monte Carlo Model Predictive Control |
| title_sort | attitude control system for quadrotor using robust monte carlo model predictive control |
| topic | Model Predictive Control robust control Monte Carlo Model Predictive Control sliding mode control integral sliding mode control quadrotor |
| url | https://www.mdpi.com/2076-0825/13/11/443 |
| work_keys_str_mv | AT kaimasuda attitudecontrolsystemforquadrotorusingrobustmontecarlomodelpredictivecontrol AT kenjiuchiyama attitudecontrolsystemforquadrotorusingrobustmontecarlomodelpredictivecontrol |