Capturing target objects using the quadrotor has gained increasing popularity in recent years, but most studies focus on capturing lightweight objects. The instantaneous contact force generated when capturing objects of a certain mass, along with the payload uncertainty after attachment, will pose significant challenges to the quadrotor control. This paper proposes a novel control architecture, namely Dual-Channel Adaptive Nonlinear Model Predictive Control (DCA-NMPC), which cascades a nonlinear model predictive control with two lower-level model reference adaptive controllers and can resist drastic impact and adapt to uncertain inertial parameters. Numerical simulation experiments are performed for validation.
@article{arxiv.2507.15261,
title = {Dual-Channel Adaptive NMPC for Quadrotor under Instantaneous Impact and Payload Disturbances},
author = {Xinqi Chen and Xiuxian Li and Min Meng},
journal= {arXiv preprint arXiv:2507.15261},
year = {2025}
}