This paper presents a disturbance observer model predictive control (DO-MPC) for the UAV pitch angle control with the presence of disturbances. The linear disturbance observer is designed to estimate the unknown disturbances in a system. Then, the MPC optimization problem is formulated into quadratic programming (QP) by adding the disturbance estimations into the system prediction subject to the input constraints. Furthermore, the algorithm of DO-MPC scheme for UAV pitch angle control is presented. According to the simulations, the DO method can estimate the actual disturbances in terms of step and sinusoidal disturbances well. The simulation results show that with the same controller parameters, the DO-MPC has the better performance compared to MPC in handling the disturbances.
Skip Nav Destination
Article navigation
19 December 2022
7TH INTERNATIONAL CONFERENCE ON MATHEMATICS: PURE, APPLIED AND COMPUTATION: Mathematics of Quantum Computing
2 October 2021
Surabaya, Indonesia
Research Article|
December 19 2022
Disturbance observer model predictive control with application to UAV pitch angle control
Heri Purnawan;
Heri Purnawan
Control and Optimization Group, Department of Mathematics, Institut Teknologi Sepuluh Nopember
, Surabaya, Indonesia
Search for other works by this author on:
Tahiyatul Asfihani;
Tahiyatul Asfihani
Control and Optimization Group, Department of Mathematics, Institut Teknologi Sepuluh Nopember
, Surabaya, Indonesia
Search for other works by this author on:
S. Subchan
S. Subchan
a)
Control and Optimization Group, Department of Mathematics, Institut Teknologi Sepuluh Nopember
, Surabaya, Indonesia
a)Corresponding author: [email protected]
Search for other works by this author on:
a)Corresponding author: [email protected]
AIP Conf. Proc. 2641, 030015 (2022)
Citation
Heri Purnawan, Tahiyatul Asfihani, S. Subchan; Disturbance observer model predictive control with application to UAV pitch angle control. AIP Conf. Proc. 19 December 2022; 2641 (1): 030015. https://doi.org/10.1063/5.0116990
Download citation file:
Pay-Per-View Access
$40.00
Sign In
You could not be signed in. Please check your credentials and make sure you have an active account and try again.
73
Views
Citing articles via
Inkjet- and flextrail-printing of silicon polymer-based inks for local passivating contacts
Zohreh Kiaee, Andreas Lösel, et al.
Design of a 100 MW solar power plant on wetland in Bangladesh
Apu Kowsar, Sumon Chandra Debnath, et al.
Effect of coupling agent type on the self-cleaning and anti-reflective behaviour of advance nanocoating for PV panels application
Taha Tareq Mohammed, Hadia Kadhim Judran, et al.