Department of Aerospace Engineering, Sharif University of Technology, Tehran, Iran
Email: abb6024@psu.edu (A.B.); banazadeh@sharif.edu (A.B.)
*Corresponding author
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
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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.
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).
