Quadrotor Trajectory Tracking Using Linear and Nonlinear Model Predictive Control
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866917833439444992 |
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| author | Canh, Thanh Nguyen Ngo, Huy-Hoang Dang, Anh Viet HoangVan, Xiem |
| author_facet | Canh, Thanh Nguyen Ngo, Huy-Hoang Dang, Anh Viet HoangVan, Xiem |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_06707 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Quadrotor Trajectory Tracking Using Linear and Nonlinear Model Predictive Control Canh, Thanh Nguyen Ngo, Huy-Hoang Dang, Anh Viet HoangVan, Xiem Robotics 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. |
| title | Quadrotor Trajectory Tracking Using Linear and Nonlinear Model Predictive Control |
| topic | Robotics |
| url | https://arxiv.org/abs/2411.06707 |