doi: 10.7763/IJMO.2024.V14.849
Integrated SMC-MPC Design for Path Tracking of Quadcopters
Amirreza Bagherzadeh
,
Afshin Banazadeh
*
- Department of Aerospace Engineering, Sharif University of Technology, Tehran, Iran
- Manuscript received June 5, 2023
- revised July 30, 2023
- accepted September 25, 2023
- published April 8, 2024
Abstract
A controller design with integration of Sliding Mode Control (SMC) and Model Predictive Control (MPC) has been proposed here for path-tracking and attitude control of multirotors. Sliding mode control has been used for tracking desired attitude and altitude under modeling errors and external disturbances. Model predictive control has also been designed to track the desired path in the horizontal plane of motion, which has been constrained to have feasible values of reference roll and pitch angles. In addition, some considerations have been made on the control design integration and thrust force constraints. This technique has been examined by tracking two different desired trajectories and checking the integral of the absolute error. It is shown that the proposed technique has outstanding performance under the external disturbances and control saturation.
Keywords
- Sliding Mode Control (SMC)
- Model Predictive Control (MPC)
- quadcopter
- external disturbances
How to Cite
Amirreza Bagherzadeh and Afshin Banazadeh, "Integrated SMC-MPC Design for Path Tracking of Quadcopters," International Journal of Modeling and Optimization, vol. 14, no. 2, pp. 49-58, 2024. https://doi.org/ 10.7763/IJMO.2024.V14.849
Copyright & License
Copyright © 2024 by the authors. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).