Quadcopter Trajectory Tracking Based on Model Predictive Path Integral Control and Neural Network
This paper aims to address the trajectory tracking problem of quadrotors under complex dynamic environments and significant fluctuations in system states. An adaptive trajectory tracking control method is proposed based on an improved Model Predictive Path Integral (MPPI) controller and a Multilayer...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/9/1/9 |
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| author | Yong Li Qidan Zhu Ahsan Elahi |
| author_facet | Yong Li Qidan Zhu Ahsan Elahi |
| author_sort | Yong Li |
| collection | DOAJ |
| description | This paper aims to address the trajectory tracking problem of quadrotors under complex dynamic environments and significant fluctuations in system states. An adaptive trajectory tracking control method is proposed based on an improved Model Predictive Path Integral (MPPI) controller and a Multilayer Perceptron (MLP) neural network. The technique enhances control accuracy and robustness by adjusting control inputs in real time. The Multilayer Perceptron neural network can learn the dynamics of a quadrotor by its state parameter and then the Multilayer Perceptron sends the model to the Model Predictive Path Integral controller. The Model Predictive Path Integral controller uses the model to control the quadcopter following the desired trajectory. Experimental data show that the improved Model Predictive Path Integral–Multilayer Perceptron method reduces the trajectory tracking error by 23.7%, 34.7%, and 10.9% compared to the traditional Model Predictive Path Integral, MPC with MLP, and a two-layer network, respectively. These results demonstrate the potential application of the method in complex environments. |
| format | Article |
| id | doaj-art-7254956caec9408e800601f0be0f8c8b |
| institution | Kabale University |
| issn | 2504-446X |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj-art-7254956caec9408e800601f0be0f8c8b2025-01-24T13:29:37ZengMDPI AGDrones2504-446X2024-12-0191910.3390/drones9010009Quadcopter Trajectory Tracking Based on Model Predictive Path Integral Control and Neural NetworkYong Li0Qidan Zhu1Ahsan Elahi2College of Intelligent Systems, Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems, Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems, Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaThis paper aims to address the trajectory tracking problem of quadrotors under complex dynamic environments and significant fluctuations in system states. An adaptive trajectory tracking control method is proposed based on an improved Model Predictive Path Integral (MPPI) controller and a Multilayer Perceptron (MLP) neural network. The technique enhances control accuracy and robustness by adjusting control inputs in real time. The Multilayer Perceptron neural network can learn the dynamics of a quadrotor by its state parameter and then the Multilayer Perceptron sends the model to the Model Predictive Path Integral controller. The Model Predictive Path Integral controller uses the model to control the quadcopter following the desired trajectory. Experimental data show that the improved Model Predictive Path Integral–Multilayer Perceptron method reduces the trajectory tracking error by 23.7%, 34.7%, and 10.9% compared to the traditional Model Predictive Path Integral, MPC with MLP, and a two-layer network, respectively. These results demonstrate the potential application of the method in complex environments.https://www.mdpi.com/2504-446X/9/1/9quadcoptermodel predictive path integralneural networkmultilayer perceptron |
| spellingShingle | Yong Li Qidan Zhu Ahsan Elahi Quadcopter Trajectory Tracking Based on Model Predictive Path Integral Control and Neural Network Drones quadcopter model predictive path integral neural network multilayer perceptron |
| title | Quadcopter Trajectory Tracking Based on Model Predictive Path Integral Control and Neural Network |
| title_full | Quadcopter Trajectory Tracking Based on Model Predictive Path Integral Control and Neural Network |
| title_fullStr | Quadcopter Trajectory Tracking Based on Model Predictive Path Integral Control and Neural Network |
| title_full_unstemmed | Quadcopter Trajectory Tracking Based on Model Predictive Path Integral Control and Neural Network |
| title_short | Quadcopter Trajectory Tracking Based on Model Predictive Path Integral Control and Neural Network |
| title_sort | quadcopter trajectory tracking based on model predictive path integral control and neural network |
| topic | quadcopter model predictive path integral neural network multilayer perceptron |
| url | https://www.mdpi.com/2504-446X/9/1/9 |
| work_keys_str_mv | AT yongli quadcoptertrajectorytrackingbasedonmodelpredictivepathintegralcontrolandneuralnetwork AT qidanzhu quadcoptertrajectorytrackingbasedonmodelpredictivepathintegralcontrolandneuralnetwork AT ahsanelahi quadcoptertrajectorytrackingbasedonmodelpredictivepathintegralcontrolandneuralnetwork |