Laguerre-Based Adaptive MPC for Attitude Stabilization of Quad-Rotor

Abstract

The application of predictive control methods in real-time to fast systems, such as quad-rotors, remains a challenge for its implementation in low-power embedded systems. This paper presents the application of an Adaptive Laguerre-based Model Predictive Controller (MPC) to the Attitude Stabilization of a Quadrotor. The formulation uses an Online System Identification algorithm based on Recursive Least Squares (RLS) with forgetting factor for parameter estimation, and a Laguerre-based Model Predictive Controller for achieving real-time calcu-lation/update of the control law. The developed control system was experimentally tested in a real quad-rotor, and the results demonstrate its real-time applicability in a low-power embedded platform.