Benotsmane, R.; Vásárhelyi, J. Towards Optimization of Energy Consumption of Tello Quad-Rotor with Mpc Model Implementation. Energies2022, 15, 9207.
Benotsmane, R.; Vásárhelyi, J. Towards Optimization of Energy Consumption of Tello Quad-Rotor with Mpc Model Implementation. Energies 2022, 15, 9207.
Benotsmane, R.; Vásárhelyi, J. Towards Optimization of Energy Consumption of Tello Quad-Rotor with Mpc Model Implementation. Energies2022, 15, 9207.
Benotsmane, R.; Vásárhelyi, J. Towards Optimization of Energy Consumption of Tello Quad-Rotor with Mpc Model Implementation. Energies 2022, 15, 9207.
Abstract
For a decade, the studies of dynamic control for unmanned aerial vehicles took a large interest, where drones as a useful technology in different areas were always suffering from several issues like instability-high energy consumption of batteries - inaccuracy of tracking targets. Different approaches are proposed for dealing with the non-linearity issues which present the most important features of this system. This paper describes our focus on the most common control strategies, known as model predictive control MPC, by developing a model based on the sensors embedded in our Tello quadrotor used for indoor purposes. The original controller of Tello quadrotor is supposed to be a slave, where the designed model predictive controller is created in MATLAB and imported to another embedded system, considered as a master; the objective of this model is to track the reference trajectory, almost keeping the stability of the system and ensure the low energy consumption. In the first part, a profound description of the modelling process of a dynamic model for drones is presented, explaining the design of MPC controller with both linear and non-linear strategies built in MATLAB. In the final part, simulation and results are discussed regarding its behaviour and performance, highlighting the MPC model's important role on drones' energy consumption profile.
Keywords
dynamic control; UAV; model predictive control; nonlinear MPC; trajectory tracking; energy consumption
Subject
Engineering, Electrical and Electronic Engineering
Copyright:
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.
