Attitude Control System for Quadrotor Using Robust Monte Carlo Model Predictive Control

Abstract

Monte Carlo Model Predictive Control (MCMPC) is a kind of non-linear Model Predictive Control (MPC) that determines control inputs using the Monte Carlo method. The Monte Carlo method used in MCMPC can handle discontinuous phenomena, and there have been reports of its application in control systems for quadrotors, where the objective is to maintain the stability of the attitude during collisions. However, as with conventional MPC, concerns remain about control performance degradation due to modeling errors and external disturbances such as unexpected wind gusts. In this study, we propose a novel Robust Monte Carlo Model Predictive Control (RMCMPC), which improves the robustness of MCMPC by considering the hypersurface known from the Sliding Mode Control (SMC) theory. The proposed RMCMPC is applied to a quadrotor attitude control system, and its effectiveness is validated through numerical simulations.

Keywords

• Model Predictive Control
• robust control
• Monte Carlo Model Predictive Control
• sliding mode control
• integral sliding mode control
• quadrotor