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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) · pp. 1652–1663

DOI
10.18196/jrc.v5i6.23159
ISSN
2715-5072, 2715-5056
Published
2024-09-05
Publisher
Universitas Muhammadiyah Yogyakarta
Language
eng

Abstract

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.

Keywords

Collaboration network of the authors

40 authors · 166 co-authorship links · 17 across different organisations · showing the 40 most connected

Hover or tap a name to highlight its co-authors. Double-click to open the author's page.

  • Imam Ja’afar Al-Sadiq University
  • Prince Sattam Bin Abdulaziz University
  • University of Al-Ameed
  • University of Mosul
  • Al-Farahidi University
  • INTI International University
  • Sohar University
  • Affiliation unknown
  • Different organisations
  • Same organisation
  • Affiliation unknown
  • Thicker line = more joint articles · bigger circle = more articles
Show as table
Co-authorOrganisationJoint articles
Saadaldeen Rashid AhmedAffiliation unknown11
Yasin BektaşAffiliation unknown8
Mohammed M AldabbaghAffiliation unknown7
Faris Hassan TahaUniversity of Mosul6
Sinan Q. SalihImam Ja’afar Al-Sadiq University6
Enes BektaşAffiliation unknown5
Jamal Fadhil TawfeqAl-Farahidi University4
Hazry DesaAffiliation unknown3
Baqer A HakimAffiliation unknown3
Tareq Hamad AbedAffiliation unknown3
Taif. S. HasanAffiliation unknown3
Raed Abdulkareem HasanAffiliation unknown3
Omer K AhmedAffiliation unknown3
Sarah B. EzzatAffiliation unknown3
Pritesh ShahAffiliation unknown2
Hilal A. FadhilSohar University2
Mohd Khair HassanAffiliation unknown2
Noor Izzri Abdul WahabAffiliation unknown2
Hussein I. ZaynalAffiliation unknown2
Safwan NadwehAffiliation unknown2
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
Shouket Abdulrahman AhmedAffiliation unknown1
Shailesh SonawaneAffiliation unknown1
Arundhati WarkeAffiliation unknown1
Sukrut ThipseAffiliation unknown1
Chetan VarmaAffiliation unknown1
Iswanto IswantoAffiliation unknown1
Murugesan D.Affiliation unknown1
Jagatheesan K.Affiliation unknown1

Affiliations come from OpenAlex; journal OAI-PMH metadata carries none. Authors without an OpenAlex ID are matched by name, which can merge or split people.

Metadata source: OAI-PMH (metadata jurnal) https://journal.umy.ac.id/index.php/jrc/oai, first harvested 9 Nov 2026, last seen 9 Nov 2026.
Original metadata (oai_dc) 
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	<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>