MPC controller for trajectory tracking control of quadcopter

Abstract

This paper focuses on trajectory tracking of quadcopter using a Model Predictive control (MPC). The main motive in using MPC is the ability to consider control and state constraints that occur in practical problems. In addition, MPC techniques consider a clear-cut performance criterion to be lessened during the control law computation. The trajectory tracking problem is solved using two approaches: PID controller and Linear MPC. The modeling of Quadcopter is developed using kinematic and dynamic equations. By making suitable assumptions, a simplified model is obtained, which is taken as the reference model for MPC. Simulation results are provided in order to show the effectiveness of both schemes. For comparison purpose only one degree of freedom, i.e., altitude is considered. The same methodology can be extended to other degrees of freedom(DOF). The results show that LMPC was able to achieve good tracking than the PID controller.