Reference Tracking of Quadrotor Using Modified Nonlinear Model Predictive Control Based on Nonlinear Disturbance Observer

S. Subchan; Leila Rizky Amalia; Tahiyatul Asfihani; Heri Purnawan

doi:10.1007/978-981-97-2136-8_8

Reference Tracking of Quadrotor Using Modified Nonlinear Model Predictive Control Based on Nonlinear Disturbance Observer

S. Subchan^*, Leila Rizky Amalia, Tahiyatul Asfihani, Heri Purnawan

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper proposes a modified nonlinear model predictive control based on nonlinear disturbance observer (NDO-NMPC) for reference tracking of a quadrotor. The quadrotor model is nonlinear with a multi-input-multi-output (MIMO) system type. This study’s discussed problem is requiring a quadrotor to track the given trajectories. The disturbances considered in the system are constant and step disturbances. The unknown disturbances are estimated using a nonlinear disturbance observer. Furthermore, the disturbance estimations are added to the system’s prediction of NMPC. Based on the simulation results, the NDO can provide good estimation results for estimating the system disturbances. According to the performed numerical simulations, the optimal inputs obtained satisfy the limitations of the defined constraints. In addition, the proposed NDO-NMPC can overcome external disturbances, so the outputs of NDO-NMPC are appropriate for the expected results.

Original language	English
Title of host publication	Applied and Computational Mathematics - ICoMPAC 2023
Editors	Dieky Adzkiya, Kistosil Fahim
Publisher	Springer
Pages	87-104
Number of pages	18
ISBN (Print)	9789819721351
DOIs	https://doi.org/10.1007/978-981-97-2136-8_8
Publication status	Published - 2024
Event	8th International Conference on Mathematics: Pure, Applied and Computation, ICoMPAC 2023 - Lombok, Indonesia Duration: 30 Sept 2023 → 30 Sept 2023

Publication series

Name	Springer Proceedings in Mathematics and Statistics
Volume	455
ISSN (Print)	2194-1009
ISSN (Electronic)	2194-1017

Conference

Conference	8th International Conference on Mathematics: Pure, Applied and Computation, ICoMPAC 2023
Country/Territory	Indonesia
City	Lombok
Period	30/09/23 → 30/09/23

Keywords

Nonlinear disturbance observer
Nonlinear model predictive control
Nonlinear system
Quadrotor

Access to Document

10.1007/978-981-97-2136-8_8

Cite this

Subchan, S., Amalia, L. R., Asfihani, T., & Purnawan, H. (2024). Reference Tracking of Quadrotor Using Modified Nonlinear Model Predictive Control Based on Nonlinear Disturbance Observer. In D. Adzkiya, & K. Fahim (Eds.), Applied and Computational Mathematics - ICoMPAC 2023 (pp. 87-104). (Springer Proceedings in Mathematics and Statistics; Vol. 455). Springer. https://doi.org/10.1007/978-981-97-2136-8_8

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title = "Reference Tracking of Quadrotor Using Modified Nonlinear Model Predictive Control Based on Nonlinear Disturbance Observer",

abstract = "This paper proposes a modified nonlinear model predictive control based on nonlinear disturbance observer (NDO-NMPC) for reference tracking of a quadrotor. The quadrotor model is nonlinear with a multi-input-multi-output (MIMO) system type. This study{\textquoteright}s discussed problem is requiring a quadrotor to track the given trajectories. The disturbances considered in the system are constant and step disturbances. The unknown disturbances are estimated using a nonlinear disturbance observer. Furthermore, the disturbance estimations are added to the system{\textquoteright}s prediction of NMPC. Based on the simulation results, the NDO can provide good estimation results for estimating the system disturbances. According to the performed numerical simulations, the optimal inputs obtained satisfy the limitations of the defined constraints. In addition, the proposed NDO-NMPC can overcome external disturbances, so the outputs of NDO-NMPC are appropriate for the expected results.",

keywords = "Nonlinear disturbance observer, Nonlinear model predictive control, Nonlinear system, Quadrotor",

author = "S. Subchan and Amalia, {Leila Rizky} and Tahiyatul Asfihani and Heri Purnawan",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.; 8th International Conference on Mathematics: Pure, Applied and Computation, ICoMPAC 2023 ; Conference date: 30-09-2023 Through 30-09-2023",

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Subchan, S, Amalia, LR, Asfihani, T & Purnawan, H 2024, Reference Tracking of Quadrotor Using Modified Nonlinear Model Predictive Control Based on Nonlinear Disturbance Observer. in D Adzkiya & K Fahim (eds), Applied and Computational Mathematics - ICoMPAC 2023. Springer Proceedings in Mathematics and Statistics, vol. 455, Springer, pp. 87-104, 8th International Conference on Mathematics: Pure, Applied and Computation, ICoMPAC 2023, Lombok, Indonesia, 30/09/23. https://doi.org/10.1007/978-981-97-2136-8_8

Reference Tracking of Quadrotor Using Modified Nonlinear Model Predictive Control Based on Nonlinear Disturbance Observer. / Subchan, S.; Amalia, Leila Rizky; Asfihani, Tahiyatul et al.
Applied and Computational Mathematics - ICoMPAC 2023. ed. / Dieky Adzkiya; Kistosil Fahim. Springer, 2024. p. 87-104 (Springer Proceedings in Mathematics and Statistics; Vol. 455).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Subchan, S.

AU - Amalia, Leila Rizky

AU - Asfihani, Tahiyatul

AU - Purnawan, Heri

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

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N2 - This paper proposes a modified nonlinear model predictive control based on nonlinear disturbance observer (NDO-NMPC) for reference tracking of a quadrotor. The quadrotor model is nonlinear with a multi-input-multi-output (MIMO) system type. This study’s discussed problem is requiring a quadrotor to track the given trajectories. The disturbances considered in the system are constant and step disturbances. The unknown disturbances are estimated using a nonlinear disturbance observer. Furthermore, the disturbance estimations are added to the system’s prediction of NMPC. Based on the simulation results, the NDO can provide good estimation results for estimating the system disturbances. According to the performed numerical simulations, the optimal inputs obtained satisfy the limitations of the defined constraints. In addition, the proposed NDO-NMPC can overcome external disturbances, so the outputs of NDO-NMPC are appropriate for the expected results.

AB - This paper proposes a modified nonlinear model predictive control based on nonlinear disturbance observer (NDO-NMPC) for reference tracking of a quadrotor. The quadrotor model is nonlinear with a multi-input-multi-output (MIMO) system type. This study’s discussed problem is requiring a quadrotor to track the given trajectories. The disturbances considered in the system are constant and step disturbances. The unknown disturbances are estimated using a nonlinear disturbance observer. Furthermore, the disturbance estimations are added to the system’s prediction of NMPC. Based on the simulation results, the NDO can provide good estimation results for estimating the system disturbances. According to the performed numerical simulations, the optimal inputs obtained satisfy the limitations of the defined constraints. In addition, the proposed NDO-NMPC can overcome external disturbances, so the outputs of NDO-NMPC are appropriate for the expected results.

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Subchan S, Amalia LR, Asfihani T, Purnawan H. Reference Tracking of Quadrotor Using Modified Nonlinear Model Predictive Control Based on Nonlinear Disturbance Observer. In Adzkiya D, Fahim K, editors, Applied and Computational Mathematics - ICoMPAC 2023. Springer. 2024. p. 87-104. (Springer Proceedings in Mathematics and Statistics). doi: 10.1007/978-981-97-2136-8_8