Quadcopter Trajectory Tracking Based on Model Predictive Path Integral Control and Neural Network

Abstract

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.

Keywords

• quadcopter
• model predictive path integral
• neural network
• multilayer perceptron