Trajectory tracking for a quadrotor system: A flatness-based nonlinear predictive control approach

2016 ◽  
Author(s):  
Jose Oniram de A. Limaverde Filho ◽  
Tiago S. Lourenco ◽  
Eugenio Fortaleza ◽  
Andre Murilo ◽  
Renato V. Lopes
Keyword(s):  
Predictive Control ◽  
Trajectory Tracking ◽  
Control Approach ◽  
System A ◽  
Nonlinear Predictive Control ◽  
Quadrotor System

scholarly journals Trajectory Tracking and Stabilization of a Quadrotor Using Model Predictive Control of Laguerre Functions

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Mapopa Chipofya ◽  
Deok Jin Lee ◽  
Kil To Chong
Keyword(s):  
State Space ◽  
Predictive Control ◽  
Trajectory Tracking ◽  
Linear Quadratic Regulator ◽  
Laguerre Functions ◽  
Linear Quadratic ◽  
Model Predictive Controller ◽  
Predictive Controller ◽  
Linear State ◽  
Quadrotor System

This paper presents a solution to stability and trajectory tracking of a quadrotor system using a model predictive controller designed using a type of orthonormal functions called Laguerre functions. A linear model of the quadrotor is derived and used. To check the performance of the controller we compare it with a linear quadratic regulator and a more traditional linear state space MPC. Simulations for trajectory tracking and stability are performed in MATLAB and results provided in this paper.

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