Disturbance observer model predictive control with application to UAV pitch angle control

Heri Purnawan, Tahiyatul Asfihani, S. Subchan*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper presents a disturbance observer model predictive control (DO-MPC) for the UAV pitch angle control with the presence of disturbances. The linear disturbance observer is designed to estimate the unknown disturbances in a system. Then, the MPC optimization problem is formulated into quadratic programming (QP) by adding the disturbance estimations into the system prediction subject to the input constraints. Furthermore, the algorithm of DO-MPC scheme for UAV pitch angle control is presented. According to the simulations, the DO method can estimate the actual disturbances in terms of step and sinusoidal disturbances well. The simulation results show that with the same controller parameters, the DO-MPC has the better performance compared to MPC in handling the disturbances.

Original languageEnglish
Title of host publication7th International Conference on Mathematics - Pure, Applied and Computation
Subtitle of host publicationMathematics of Quantum Computing
EditorsMuhammad Syifa�ul Mufid, Dieky Adzkiya
PublisherAmerican Institute of Physics Inc.
ISBN (Electronic)9780735442917
DOIs
Publication statusPublished - 19 Dec 2022
Event7th International Conference on Mathematics: Pure, Applied and Computation: , ICoMPAC 2021 - Surabaya, Indonesia
Duration: 2 Oct 2021 → …

Publication series

NameAIP Conference Proceedings
Volume2641
ISSN (Print)0094-243X
ISSN (Electronic)1551-7616

Conference

Conference7th International Conference on Mathematics: Pure, Applied and Computation: , ICoMPAC 2021
Country/TerritoryIndonesia
CitySurabaya
Period2/10/21 → …

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