Cascade model predictive control for enhancing UAV quadcopter stability and energy efficiency in wind turbulent mangrove forest environment
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 contro...
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| Format: | Article |
| Language: | English |
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Elsevier
2024-12-01
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| Series: | e-Prime: Advances in Electrical Engineering, Electronics and Energy |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S2772671124004169 |
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| author | Mustapha Amine Sadi Annisa Jamali Abang Mohammad Nizam bin Abang Kamaruddin Vivien Yeo Shu Jun |
| author_facet | Mustapha Amine Sadi Annisa Jamali Abang Mohammad Nizam bin Abang Kamaruddin Vivien Yeo Shu Jun |
| author_sort | Mustapha Amine Sadi |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-15fc649acacf4d47b30dd6b96f0e82bb |
| institution | Kabale University |
| issn | 2772-6711 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Elsevier |
| record_format | Article |
| series | e-Prime: Advances in Electrical Engineering, Electronics and Energy |
| spelling | doaj-art-15fc649acacf4d47b30dd6b96f0e82bb2024-12-16T05:38:59ZengElseviere-Prime: Advances in Electrical Engineering, Electronics and Energy2772-67112024-12-0110100836Cascade model predictive control for enhancing UAV quadcopter stability and energy efficiency in wind turbulent mangrove forest environmentMustapha Amine Sadi0Annisa Jamali1Abang Mohammad Nizam bin Abang Kamaruddin2Vivien Yeo Shu Jun3Department of Mechanical Engineering, Universiti Malaysia Sarawak, MalaysiaDepartment of Mechanical Engineering, Universiti Malaysia Sarawak, Malaysia; Corresponding author.Department of Mechanical Engineering, Universiti Malaysia Sarawak, MalaysiaMangrove and Dolphin Conservation, WWF-Malaysia, Sarawak, MalaysiaUnmanned 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.http://www.sciencedirect.com/science/article/pii/S2772671124004169UAVCascade MPCPID ControllerControl designMangrove ForestWind Turbulence |
| spellingShingle | Mustapha Amine Sadi Annisa Jamali Abang Mohammad Nizam bin Abang Kamaruddin Vivien Yeo Shu Jun Cascade model predictive control for enhancing UAV quadcopter stability and energy efficiency in wind turbulent mangrove forest environment e-Prime: Advances in Electrical Engineering, Electronics and Energy UAV Cascade MPC PID Controller Control design Mangrove Forest Wind Turbulence |
| title | Cascade model predictive control for enhancing UAV quadcopter stability and energy efficiency in wind turbulent mangrove forest environment |
| title_full | Cascade model predictive control for enhancing UAV quadcopter stability and energy efficiency in wind turbulent mangrove forest environment |
| title_fullStr | Cascade model predictive control for enhancing UAV quadcopter stability and energy efficiency in wind turbulent mangrove forest environment |
| title_full_unstemmed | Cascade model predictive control for enhancing UAV quadcopter stability and energy efficiency in wind turbulent mangrove forest environment |
| title_short | Cascade model predictive control for enhancing UAV quadcopter stability and energy efficiency in wind turbulent mangrove forest environment |
| title_sort | cascade model predictive control for enhancing uav quadcopter stability and energy efficiency in wind turbulent mangrove forest environment |
| topic | UAV Cascade MPC PID Controller Control design Mangrove Forest Wind Turbulence |
| url | http://www.sciencedirect.com/science/article/pii/S2772671124004169 |
| work_keys_str_mv | AT mustaphaaminesadi cascademodelpredictivecontrolforenhancinguavquadcopterstabilityandenergyefficiencyinwindturbulentmangroveforestenvironment AT annisajamali cascademodelpredictivecontrolforenhancinguavquadcopterstabilityandenergyefficiencyinwindturbulentmangroveforestenvironment AT abangmohammadnizambinabangkamaruddin cascademodelpredictivecontrolforenhancinguavquadcopterstabilityandenergyefficiencyinwindturbulentmangroveforestenvironment AT vivienyeoshujun cascademodelpredictivecontrolforenhancinguavquadcopterstabilityandenergyefficiencyinwindturbulentmangroveforestenvironment |