High-Performance Trajectory Tracking MPC for Quadcopters with Coupled Time-Varying Constraints and Stability Proofs
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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866908514738241536 |
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| author | Izadi, Maedeh Cobbenhagen, A. T. J. R. Sommer, R. L. Andrien, A. R. P. Lefeber, E. Heemels, W. P. M. H. |
| author_facet | Izadi, Maedeh Cobbenhagen, A. T. J. R. Sommer, R. L. Andrien, A. R. P. Lefeber, E. Heemels, W. P. M. H. |
| contents | In this paper, we present a cascade control structure to address the trajectory tracking problem for quadcopters, ensuring uniform global asymptotic stability of the state tracking error dynamics. An MPC strategy based on a 12-dimensional prediction model is proposed for the outer loop, explicitly accounting for time-varying coupled constraints, where multiple variables are interdependent and need to be handled together. The outer-loop controller generates an acceleration reference, which is then converted into attitude and angular velocity references, later tracked by a nonlinear inner-loop controller. Numerical simulations validate the approach, demonstrating enhanced performance in precise and fast tracking by imposing less conservative constraints than existing approaches, while still guaranteeing stability. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_01767 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | High-Performance Trajectory Tracking MPC for Quadcopters with Coupled Time-Varying Constraints and Stability Proofs Izadi, Maedeh Cobbenhagen, A. T. J. R. Sommer, R. L. Andrien, A. R. P. Lefeber, E. Heemels, W. P. M. H. Systems and Control In this paper, we present a cascade control structure to address the trajectory tracking problem for quadcopters, ensuring uniform global asymptotic stability of the state tracking error dynamics. An MPC strategy based on a 12-dimensional prediction model is proposed for the outer loop, explicitly accounting for time-varying coupled constraints, where multiple variables are interdependent and need to be handled together. The outer-loop controller generates an acceleration reference, which is then converted into attitude and angular velocity references, later tracked by a nonlinear inner-loop controller. Numerical simulations validate the approach, demonstrating enhanced performance in precise and fast tracking by imposing less conservative constraints than existing approaches, while still guaranteeing stability. |
| title | High-Performance Trajectory Tracking MPC for Quadcopters with Coupled Time-Varying Constraints and Stability Proofs |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2509.01767 |