Model Predictive Control applied to tracking and attitude stabilization of a VTOL quadrotor aircraft

Abstract. In this paper we present a new control approach for a quadrotor mini-helicopter using the model predictive control (MPC) technique. The formulation employed is based on a linear prediction model obtained by linearizing the plant’s dynamics around an equilibrium point. The optimal control sequence is implemented in a receding-horizon strategy. The optimization is repeated at each sampling instant, taking into account the new sensor readings. The MPC’s ability in handling operational constraints on input and output variables is explored to ensure position control and overall system stabilization with a single layer control design. This control loop with only one predictive controller is the main contribution of this work. Various simulations of a quadrotor show the good performance of the proposed control law and simulation results are compared with conventional linear PID control and nonlinear backstepping control.