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arXiv · 2411.06707

Quadrotor Trajectory Tracking Using Linear and Nonlinear Model Predictive Control

Thanh Nguyen Canh·Huy-Hoang Ngo·Anh Viet Dang·Xiem HoangVan
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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.

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Thanh Nguyen Canh, Huy-Hoang Ngo, Anh Viet Dang, Xiem HoangVan. 2024-11-11. Quadrotor Trajectory Tracking Using Linear and Nonlinear Model Predictive Control. https://arxiv.org/abs/2411.06707

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