Comparison of computationally efficient linear MPC algorithms with PID on trajectory control of Quadrotor helicopter.

Mujtaba Hussain Jaffery; Moinuddin Ghauri; Yasir Saleem

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Comparison of computationally efficient linear MPC algorithms with PID on trajectory control of Quadrotor helicopter.

Author(s)

Mujtaba Hussain Jaffery CREPS, Department of Electrical Engineering, COMSATS Institute of Information Technology, Lahore, Pakistan

Moinuddin Ghauri Department of Chemical Engineering, COMSATS Institute of Information Technology, Lahore, Pakistan

Yasir Saleem Computer Science and Engineering, University of Engineering and Technology Lahore, Pakistan

Abstract

This paper presents the implementation of variants of Model predictive control (MPC) algorithms on a Quadrotor helicopter. The major obstacle in the implementation of constrained MPC is the expedient solution of the optimization problem. The novel contribution is the comparison of the performance and online computation time of variants of MPC including GPC, nominally stable (closed-loop paradigm, dual-mode) MPC and Laguerre function based MPC and a PID controller in simulation for the trajectory control of a Quadrotor helicopter.

Publication Details

Page(s) 433-438

DOI DOI not available

Published Journal: Science International, Volume: 25, Issue: 3, Year: 2013

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