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Enhanced Dynamic Control of Quadcopter PMSMs Using an ILQR-PCC System for Improved Stability and Reduced Torque Ripples

Journal of Robotics and Control (JRC) · Vol. 5 No. 6 (2024) · hlm. 1652–1663

DOI
10.18196/jrc.v5i6.23159
ISSN
2715-5072, 2715-5056
Terbit
2024-09-05
Penerbit
Universitas Muhammadiyah Yogyakarta
Bahasa
eng

Abstrak

Quadcopter technology has developed fast because it’s flexibility and capacity for high maneuvers. What makes PMSM suitable for Quadcopter is their high power to weight ratio, reliability and efficiency. These motors allow the operation of torque and speed control which are important for stability and maneuverability in the flight of the aircraft. Nevertheless, certain and smooth flight caused by regulation of PMSM speed and current is necessary for stable and maneuverable movement. This work presents a new control strategy connecting the ILQR control to govern the speed while the PCC profit the dynamic response and control torque ripples. A comparison is made on the performance of the ILQR-PCC system with nominal Proportional-Integral (PI) control and ILQR. From the results it is evident that the ILQR-PCC system is far superior to both the PI & ILQR controller in regards to the dynamic response, the disturbances rejection capacity as well as reducing the current signal distortions hence reducing the torque ripples. Its working was evidenced in a nonlinear LQR-controlled quadcopter to track the reference accurately and to have minimum distortion in current regulation. The presented work improves the control systems of quadcopters: it introduces a reliable method that improves stability and increases the performance of the quadcopter; therefore, this paper contributes to the existing knowledge.

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  • Prince Sattam Bin Abdulaziz University
  • University of Al-Ameed
  • Al-Farahidi University
  • University of Mosul
  • Imam Ja’afar Al-Sadiq University
  • INTI International University
  • Symbiosis International University
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Rekan penulisOrganisasiArtikel bersama
Saadaldeen Rashid AhmedAfiliasi tidak diketahui11
Yasin BektaşAfiliasi tidak diketahui8
Mohammed M AldabbaghAfiliasi tidak diketahui7
Enes BektaşAfiliasi tidak diketahui5
Faris Hassan TahaUniversity of Mosul4
Jamal Fadhil TawfeqAl-Farahidi University4
Baqer A HakimAfiliasi tidak diketahui3
Tareq Hamad AbedAfiliasi tidak diketahui3
Taif. S. HasanAfiliasi tidak diketahui3
Raed Abdulkareem HasanAfiliasi tidak diketahui3
Omer K AhmedAfiliasi tidak diketahui3
Sarah B. EzzatAfiliasi tidak diketahui3
Mohd Khair HassanAfiliasi tidak diketahui2
Noor Izzri Abdul WahabAfiliasi tidak diketahui2
Hussein I. ZaynalAfiliasi tidak diketahui2
Hazry DesaAfiliasi tidak diketahui2
Muthanna Ibrahim NeamahAfiliasi tidak diketahui2
Khalil Farhan YassinAfiliasi tidak diketahui2
Marwa IbrahimAfiliasi tidak diketahui2
Raad Ibrahim Hussein HusseinAfiliasi tidak diketahui2
Mustafa TekeAfiliasi tidak diketahui2
Mehmet TümayAfiliasi tidak diketahui2
Ethar Sulaiman Yaseen YaseenAfiliasi tidak diketahui2
Poh Soon JosephNgINTI International University1
Hissah AlmutairiPrince Sattam Bin Abdulaziz University1
Abdullah AlqahtaniPrince Sattam Bin Abdulaziz University1
Zinah S. JabbarImam Ja’afar Al-Sadiq University1
Priyanka Tupe-WaghmareSymbiosis International University1
Rafah Kareem MahmoodAfiliasi tidak diketahui1
Ans Ibrahim MahameedAfiliasi tidak diketahui1
Noor Q. LateefAfiliasi tidak diketahui1
Hasanain M. JasimAfiliasi tidak diketahui1

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Sumber metadata: OAI-PMH (metadata jurnal) https://journal.umy.ac.id/index.php/jrc/oai, pertama di-harvest 9 Nov 2026, terakhir terlihat 9 Nov 2026.
Metadata asli (oai_dc) 
<oai_dc:dc xmlns="http://www.openarchives.org/OAI/2.0/" xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:oai_dc="http://www.openarchives.org/OAI/2.0/oai_dc/" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.openarchives.org/OAI/2.0/oai_dc/  http://www.openarchives.org/OAI/2.0/oai_dc.xsd">
	<dc:title xml:lang="en-US">Enhanced Dynamic Control of Quadcopter PMSMs Using an ILQR-PCC System for Improved Stability and Reduced Torque Ripples</dc:title>
	<dc:creator>Saleh, Ziyaad H.</dc:creator>
	<dc:creator>Mejbel, Basim Ghalib</dc:creator>
	<dc:creator>Radhi, Ahmed Dheyaa</dc:creator>
	<dc:creator>Hashim, Abdulghafor Mohammed</dc:creator>
	<dc:creator>Taha, Taha A.</dc:creator>
	<dc:creator>Gökşenli, Nurettin</dc:creator>
	<dc:creator>Hussain, Abadal-Salam T.</dc:creator>
	<dc:creator>Sekhar, Ravi</dc:creator>
	<dc:subject xml:lang="en-US">Quadcopter Control</dc:subject>
	<dc:subject xml:lang="en-US">PMSM</dc:subject>
	<dc:subject xml:lang="en-US">ILQR</dc:subject>
	<dc:subject xml:lang="en-US">Predictive Current Control</dc:subject>
	<dc:subject xml:lang="en-US">Torque Ripple Reduction</dc:subject>
	<dc:subject xml:lang="en-US">UAV Stability.</dc:subject>
	<dc:description xml:lang="en-US">Quadcopter technology has developed fast because it’s flexibility and capacity for high maneuvers. What makes PMSM suitable for Quadcopter is their high power to weight ratio, reliability and efficiency. These motors allow the operation of torque and speed control which are important for stability and maneuverability in the flight of the aircraft. Nevertheless, certain and smooth flight caused by regulation of PMSM speed and current is necessary for stable and maneuverable movement. This work presents a new control strategy connecting the ILQR control to govern the speed while the PCC profit the dynamic response and control torque ripples. A comparison is made on the performance of the ILQR-PCC system with nominal Proportional-Integral (PI) control and ILQR.  From the results it is evident that the ILQR-PCC system is far superior to both the PI &amp;amp; ILQR controller in regards to the dynamic response, the disturbances rejection capacity as well as reducing the current signal distortions hence reducing the torque ripples. Its working was evidenced in a nonlinear LQR-controlled quadcopter to track the reference accurately and to have minimum distortion in current regulation. The presented work improves the control systems of quadcopters: it introduces a reliable method that improves stability and increases the performance of the quadcopter; therefore, this paper contributes to the existing knowledge.</dc:description>
	<dc:publisher xml:lang="en-US">Universitas Muhammadiyah Yogyakarta</dc:publisher>
	<dc:date>2024-09-05</dc:date>
	<dc:type>info:eu-repo/semantics/article</dc:type>
	<dc:type>info:eu-repo/semantics/publishedVersion</dc:type>
	<dc:format>application/pdf</dc:format>
	<dc:identifier>https://journal.umy.ac.id/index.php/jrc/article/view/23159</dc:identifier>
	<dc:identifier>10.18196/jrc.v5i6.23159</dc:identifier>
	<dc:source xml:lang="en-US">Journal of Robotics and Control (JRC); Vol. 5 No. 6 (2024); 1652-1663</dc:source>
	<dc:source>2715-5072</dc:source>
	<dc:source>2715-5056</dc:source>
	<dc:source>10.18196/jrc.v5i6</dc:source>
	<dc:language>eng</dc:language>
	<dc:relation>https://journal.umy.ac.id/index.php/jrc/article/view/23159/9447</dc:relation>
	<dc:rights xml:lang="en-US">Copyright (c) 2024 Ziyaad H. Saleh, Basim Ghalib Mejbel, Ahmed Dheyaa Radhi, Abdulghafor Mohammed Hashim, Taha A. Taha, Nurettin Gökşenli, Abadal-Salam T. Hussain, Ravi Sekhar</dc:rights>
</oai_dc:dc>