Quadrotor Control System Using Model Predictive Control (MPC) for Stable Flight

Bilqis Hafsah Ababiel, Dr. Andi Dharmawan, S.Si., M.Cs

2025 | Skripsi | ELEKTRONIKA DAN INSTRUMENTASI

This research presents the development and experimental validation of a Linear Parameter Varying Model Predictive Control (LPV-MPC) system for quadrotor stabilization during stationary-position manoeuvrers. This research focuses on its real-time application in maintaining attitude stability under environmental disturbances. The controller addresses the limitations of conventional methods such as PID and LQR, which are less suited for handling MIMO systems and adapting to dynamic references. The proposed LPV-MPC algorithm was implemented on a quadrotor system and evaluated both in simulation and real-world flight tests. Disturbances of 4° were applied to the roll, pitch, and yaw axes to assess transient and steady-state performance. Simulation results showed minimal overshoot (<4>

This research presents the development and experimental validation of a Linear Parameter Varying Model Predictive Control (LPV-MPC) system for quadrotor stabilization during stationary-position manoeuvrers. This research focuses on its real-time application in maintaining attitude stability under environmental disturbances. The controller addresses the limitations of conventional methods such as PID and LQR, which are less suited for handling MIMO systems and adapting to dynamic references. The proposed LPV-MPC algorithm was implemented on a quadrotor system and evaluated both in simulation and real-world flight tests. Disturbances of 4° were applied to the roll, pitch, and yaw axes to assess transient and steady-state performance. Simulation results showed minimal overshoot (<4>

Kata Kunci : Quadrotor Control, Linear Parameter Varying, Model Predictive Control, Real-time Implementation