Cascaded model predictive control of a quadrotor UAV

Abstract

When using a linear controller for controlling a non-linear system, the controller is most effective when the system is working near the operating conditions. This paper proposes a model predictive controller with cascaded structure, which has the ability to maintain the state variables within the vicinity of a given operating condition by imposing operational constraints. The controller is validated on the quadrotor position control problem and shows satisfactory performance.