The UAV flight control tasks, especially their stabilities under large disturbances, are always complex and troublesome. In many application environments, drones are subject to both external interference and internal structural changes, which greatly affects the tracking accuracy. In this paper, an AI-based nonlinear control strategy was presented for unmanned aerial vehicles to achieve accurate tracking tasks. The basic idea is to combine neural network learning with traditional nonlinear model predictive control (NMPC). Moreover, some adaptive control algorithms are adopted for better robustness. First, existing MPC with L1 adaptive control is adopted as main controller for rejecting external disturbances. Second, considering path tracking performance, model reference adaptive control is added to the control policy to compensate internal structural changes. Third, to take advantage of the wealth of flight data, the neural network learning is adopted and the predictive error signal is fed back to the control system. Finally, the simulation studies are given to illustrate the effectiveness of proposed control strategy.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    AI-based Adaptive Nonlinear MPC for Quadrotors


    Contributors:
    Zhang, L. (author) / Huang, S. (author) / Xiang, C. (author) / Teo, R. (author) / Srigrarom, Sutthiphong (author) / Leong, W.W.L. (author)


    Publication date :

    2024-06-04


    Size :

    578848 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Performance, Precision, and Payloads: Adaptive Nonlinear MPC for Quadrotors

    Hanover, Drew / Foehn, Philipp / Sun, Sihao et al. | ArXiv | 2021

    Free access

    Adaptive gain tuning for teleoperation of quadrotors

    Mghabghab, Serge / Elhajj, Imad H. / Asmar, Daniel | IEEE | 2016


    Adaptive Formation Control of Multi-Quadrotors Cooperative Transportation

    Chen, Xinyu / Fan, Yunsheng / Wang, Guofeng et al. | IEEE | 2024

    Free access

    Adaptive IBVS Based Planar Non-Holonomic Target Tracking for Quadrotors

    Kumar, Yogesh / Roy, Sayan Basu / P.B., Sujit | IEEE | 2024


    Nonlinear MPC for Multiple Quadrotors in Dynamic Environments

    Recalde, Luis F. / Guevara, Bryan S. / Andaluz, Victor et al. | IEEE | 2022