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.
@article{arxiv.2411.06707,
title = {Quadrotor Trajectory Tracking Using Linear and Nonlinear Model Predictive Control},
author = {Thanh Nguyen Canh and Huy-Hoang Ngo and Anh Viet Dang and Xiem HoangVan},
journal= {arXiv preprint arXiv:2411.06707},
year = {2024}
}
Comments
In Vietnamese language, in the 25th National Conference on Electronics, Communications and Information Technology (REV-ECIT 2022), Hanoi, Vietnam