Quadrotor Trajectory Tracking Using Linear and Nonlinear Model Predictive Control

TL;DR

This paper presents in detail two state-of-the-art model-based control frameworks for trajectory tracking: the Linear Model Predictive Controller (LMPC) and the Nonlinear Model Predictive Controller (NMPC).

Abstract

Accurate trajectory tracking is an essential characteristic for the safe navigation of a quadrotor in cluttered or disturbed environments. In this paper, we present in detail two state-of-the-art model-based control frameworks for trajectory tracking: the Linear Model Predictive Controller (LMPC) and the Nonlinear Model Predictive Controller (NMPC). Additionally, the kinematic and dynamic models of the quadrotor are comprehensively described. Finally, a simulation system is implemented to verify feasibility, demonstrating the effectiveness of both controllers.

Figures (4)

• Figure 1: Định nghĩa hệ tọa độ của khung thân và khung quán tính quadrotor
• Figure 2: Các quỹ đạo bám của các bộ điều khiển
• Figure 3: Sai số bám quỹ đạo theo từng thành phần
• Figure 4: Sai số bộ tín hiệu điều khiển