LoL-NMPC: Low-Level Dynamics Integration in Nonlinear Model Predictive Control for Unmanned Aerial Vehicles

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00387312" target="_blank" >RIV/68407700:21230/25:00387312 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/IROS60139.2025.11246583" target="_blank" >https://doi.org/10.1109/IROS60139.2025.11246583</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/IROS60139.2025.11246583" target="_blank" >10.1109/IROS60139.2025.11246583</a>

Jazyk výsledku

angličtina

Název v původním jazyce

LoL-NMPC: Low-Level Dynamics Integration in Nonlinear Model Predictive Control for Unmanned Aerial Vehicles

Popis výsledku v původním jazyce

In this paper, we address the problem of tracking high-speed agile trajectories for Unmanned Aerial Vehicles (UAVs), where model inaccuracies can lead to large tracking errors. Existing Nonlinear Model Predictive Controller (NMPC) methods typically neglect the dynamics of the low-level flight controllers such as underlying PID controller present in many flight stacks, and this results in suboptimal tracking performance at high speeds and accelerations. To this end, we propose a novel NMPC formulation, LoL-NMPC, which explicitly incorporates low-level controller dynamics and motor dynamics in order to minimize trajectory tracking errors while maintaining computational efficiency. By leveraging linear constraints inside low-level dynamics, our approach inherently accounts for actuator constraints without requiring additional reallocation strategies. The proposed method is validated in both simulation and real-world experiments, demonstrating improved tracking accuracy and robustness at speeds up to 98.57 km h-1 and accelerations of 3.5 g. Our results show an average 21.97 % reduction in trajectory tracking error over standard NMPC formulation, with LoL-NMPC maintaining real-time feasibility at 100 Hz on an embedded ARM-based flight computer.

Název v anglickém jazyce

LoL-NMPC: Low-Level Dynamics Integration in Nonlinear Model Predictive Control for Unmanned Aerial Vehicles

Popis výsledku anglicky

In this paper, we address the problem of tracking high-speed agile trajectories for Unmanned Aerial Vehicles (UAVs), where model inaccuracies can lead to large tracking errors. Existing Nonlinear Model Predictive Controller (NMPC) methods typically neglect the dynamics of the low-level flight controllers such as underlying PID controller present in many flight stacks, and this results in suboptimal tracking performance at high speeds and accelerations. To this end, we propose a novel NMPC formulation, LoL-NMPC, which explicitly incorporates low-level controller dynamics and motor dynamics in order to minimize trajectory tracking errors while maintaining computational efficiency. By leveraging linear constraints inside low-level dynamics, our approach inherently accounts for actuator constraints without requiring additional reallocation strategies. The proposed method is validated in both simulation and real-world experiments, demonstrating improved tracking accuracy and robustness at speeds up to 98.57 km h-1 and accelerations of 3.5 g. Our results show an average 21.97 % reduction in trajectory tracking error over standard NMPC formulation, with LoL-NMPC maintaining real-time feasibility at 100 Hz on an embedded ARM-based flight computer.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2025

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

ISBN

979-8-3315-4393-8

ISSN

2153-0858

e-ISSN

2153-0866

Počet stran výsledku

8

Strana od-do

1186-1193

Název nakladatele

Institute of Electrical and Electronics Engineers

Místo vydání

Beijing

Místo konání akce

Hangzhou

Datum konání akce

19. 10. 2025

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

001727409500126