Estimation of Unmodeled Dynamics: Nonlinear MPC and Adaptive Control Law With Momentum Observer Dynamic

Autores
Guevara, Bryan S.; Recalde, Luis F.; Moya, Viviana; Varela Aldás, José; Gandolfo, Daniel; Toibero, Juan Marcos
Año de publicación
2024
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This article proposes an enhancement to estimate unmodeled dynamics within the simplified dynamic model of a quadcopter by integrating three key methodologies: Nonlinear Model Predictive Control (NMPC), a Momentum Observer Dynamics (MOD), and an adaptive control law. Termed as Adaptive NMPC with MOD, this integrated approach leverages NMPC, implemented using the CasADi framework, for real-time decision-making, while the momentum observer facilitates system state estimation and uncertainty mitigation. Simultaneously, the adaptive control law adjusts parameters to estimate errors in unmodeled dynamics. Through digital twin and Model in Loop (MiL) simulations, the effectiveness of this framework is demonstrated. Specifically, the study focuses on the simplified quadcopter model, acknowledging often overlooked inherent dynamics resulting from the simplification by not considering the nonlinearities induced by the drone’s attitude angles. Addressing these unmodeled dynamics is critical, and the Adaptive NMPC with MOD method emerges as a robust solution, showcasing its potential across various scenarios.
Fil: Guevara, Bryan S.. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Recalde, Luis F.. Universidad Indoamérica; Ecuador
Fil: Moya, Viviana. Universidad Internacional del Ecuador; Ecuador
Fil: Varela Aldás, José. Universidad Tecnológica Indoamérica; Ecuador
Fil: Gandolfo, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Materia
NMPC
ADAPTIVE CONTROL
DISTURBANCE ESTIMATION
UAV DYNAMICS
MOMENTUM OBSERVER
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-nd/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/258496
Acceder
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network_acronym_str CONICETDig
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network_name_str CONICET Digital (CONICET)
spelling Estimation of Unmodeled Dynamics: Nonlinear MPC and Adaptive Control Law With Momentum Observer DynamicGuevara, Bryan S.Recalde, Luis F.Moya, VivianaVarela Aldás, JoséGandolfo, DanielToibero, Juan MarcosNMPCADAPTIVE CONTROLDISTURBANCE ESTIMATIONUAV DYNAMICSMOMENTUM OBSERVERhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This article proposes an enhancement to estimate unmodeled dynamics within the simplified dynamic model of a quadcopter by integrating three key methodologies: Nonlinear Model Predictive Control (NMPC), a Momentum Observer Dynamics (MOD), and an adaptive control law. Termed as Adaptive NMPC with MOD, this integrated approach leverages NMPC, implemented using the CasADi framework, for real-time decision-making, while the momentum observer facilitates system state estimation and uncertainty mitigation. Simultaneously, the adaptive control law adjusts parameters to estimate errors in unmodeled dynamics. Through digital twin and Model in Loop (MiL) simulations, the effectiveness of this framework is demonstrated. Specifically, the study focuses on the simplified quadcopter model, acknowledging often overlooked inherent dynamics resulting from the simplification by not considering the nonlinearities induced by the drone’s attitude angles. Addressing these unmodeled dynamics is critical, and the Adaptive NMPC with MOD method emerges as a robust solution, showcasing its potential across various scenarios.Fil: Guevara, Bryan S.. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Recalde, Luis F.. Universidad Indoamérica; EcuadorFil: Moya, Viviana. Universidad Internacional del Ecuador; EcuadorFil: Varela Aldás, José. Universidad Tecnológica Indoamérica; EcuadorFil: Gandolfo, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaInstitute of Electrical and Electronics Engineers2024-04info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/258496Guevara, Bryan S.; Recalde, Luis F.; Moya, Viviana; Varela Aldás, José; Gandolfo, Daniel; et al.; Estimation of Unmodeled Dynamics: Nonlinear MPC and Adaptive Control Law With Momentum Observer Dynamic; Institute of Electrical and Electronics Engineers; IEEE Access; 12; 4-2024; 77121-771322169-3536CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://ieeexplore.ieee.org/document/10542329/info:eu-repo/semantics/altIdentifier/doi/10.1109/ACCESS.2024.3407684info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-nd/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T09:47:33Zoai:ri.conicet.gov.ar:11336/258496instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 09:47:33.737CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Estimation of Unmodeled Dynamics: Nonlinear MPC and Adaptive Control Law With Momentum Observer Dynamic
title Estimation of Unmodeled Dynamics: Nonlinear MPC and Adaptive Control Law With Momentum Observer Dynamic
spellingShingle Estimation of Unmodeled Dynamics: Nonlinear MPC and Adaptive Control Law With Momentum Observer Dynamic
Guevara, Bryan S.
NMPC
ADAPTIVE CONTROL
DISTURBANCE ESTIMATION
UAV DYNAMICS
MOMENTUM OBSERVER
title_short Estimation of Unmodeled Dynamics: Nonlinear MPC and Adaptive Control Law With Momentum Observer Dynamic
title_full Estimation of Unmodeled Dynamics: Nonlinear MPC and Adaptive Control Law With Momentum Observer Dynamic
title_fullStr Estimation of Unmodeled Dynamics: Nonlinear MPC and Adaptive Control Law With Momentum Observer Dynamic
title_full_unstemmed Estimation of Unmodeled Dynamics: Nonlinear MPC and Adaptive Control Law With Momentum Observer Dynamic
title_sort Estimation of Unmodeled Dynamics: Nonlinear MPC and Adaptive Control Law With Momentum Observer Dynamic
dc.creator.none.fl_str_mv Guevara, Bryan S.
Recalde, Luis F.
Moya, Viviana
Varela Aldás, José
Gandolfo, Daniel
Toibero, Juan Marcos
author Guevara, Bryan S.
author_facet Guevara, Bryan S.
Recalde, Luis F.
Moya, Viviana
Varela Aldás, José
Gandolfo, Daniel
Toibero, Juan Marcos
author_role author
author2 Recalde, Luis F.
Moya, Viviana
Varela Aldás, José
Gandolfo, Daniel
Toibero, Juan Marcos
author2_role author
author
author
author
author
dc.subject.none.fl_str_mv NMPC
ADAPTIVE CONTROL
DISTURBANCE ESTIMATION
UAV DYNAMICS
MOMENTUM OBSERVER
topic NMPC
ADAPTIVE CONTROL
DISTURBANCE ESTIMATION
UAV DYNAMICS
MOMENTUM OBSERVER
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This article proposes an enhancement to estimate unmodeled dynamics within the simplified dynamic model of a quadcopter by integrating three key methodologies: Nonlinear Model Predictive Control (NMPC), a Momentum Observer Dynamics (MOD), and an adaptive control law. Termed as Adaptive NMPC with MOD, this integrated approach leverages NMPC, implemented using the CasADi framework, for real-time decision-making, while the momentum observer facilitates system state estimation and uncertainty mitigation. Simultaneously, the adaptive control law adjusts parameters to estimate errors in unmodeled dynamics. Through digital twin and Model in Loop (MiL) simulations, the effectiveness of this framework is demonstrated. Specifically, the study focuses on the simplified quadcopter model, acknowledging often overlooked inherent dynamics resulting from the simplification by not considering the nonlinearities induced by the drone’s attitude angles. Addressing these unmodeled dynamics is critical, and the Adaptive NMPC with MOD method emerges as a robust solution, showcasing its potential across various scenarios.
Fil: Guevara, Bryan S.. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Recalde, Luis F.. Universidad Indoamérica; Ecuador
Fil: Moya, Viviana. Universidad Internacional del Ecuador; Ecuador
Fil: Varela Aldás, José. Universidad Tecnológica Indoamérica; Ecuador
Fil: Gandolfo, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
description This article proposes an enhancement to estimate unmodeled dynamics within the simplified dynamic model of a quadcopter by integrating three key methodologies: Nonlinear Model Predictive Control (NMPC), a Momentum Observer Dynamics (MOD), and an adaptive control law. Termed as Adaptive NMPC with MOD, this integrated approach leverages NMPC, implemented using the CasADi framework, for real-time decision-making, while the momentum observer facilitates system state estimation and uncertainty mitigation. Simultaneously, the adaptive control law adjusts parameters to estimate errors in unmodeled dynamics. Through digital twin and Model in Loop (MiL) simulations, the effectiveness of this framework is demonstrated. Specifically, the study focuses on the simplified quadcopter model, acknowledging often overlooked inherent dynamics resulting from the simplification by not considering the nonlinearities induced by the drone’s attitude angles. Addressing these unmodeled dynamics is critical, and the Adaptive NMPC with MOD method emerges as a robust solution, showcasing its potential across various scenarios.
publishDate 2024
dc.date.none.fl_str_mv 2024-04
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/258496
Guevara, Bryan S.; Recalde, Luis F.; Moya, Viviana; Varela Aldás, José; Gandolfo, Daniel; et al.; Estimation of Unmodeled Dynamics: Nonlinear MPC and Adaptive Control Law With Momentum Observer Dynamic; Institute of Electrical and Electronics Engineers; IEEE Access; 12; 4-2024; 77121-77132
2169-3536
CONICET Digital
CONICET
url http://hdl.handle.net/11336/258496
identifier_str_mv Guevara, Bryan S.; Recalde, Luis F.; Moya, Viviana; Varela Aldás, José; Gandolfo, Daniel; et al.; Estimation of Unmodeled Dynamics: Nonlinear MPC and Adaptive Control Law With Momentum Observer Dynamic; Institute of Electrical and Electronics Engineers; IEEE Access; 12; 4-2024; 77121-77132
2169-3536
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://ieeexplore.ieee.org/document/10542329/
info:eu-repo/semantics/altIdentifier/doi/10.1109/ACCESS.2024.3407684
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-nd/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-nd/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1844613481757671424
score 13.070432

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