On Real-Time Feasibility of High-Rate MPC using an Active-Set Method on Nano-Quadcopters
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arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| _version_ | 1866914381010305024 |
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| author | Wikner, Joel Arnström, Daniel Axehill, Daniel |
| author_facet | Wikner, Joel Arnström, Daniel Axehill, Daniel |
| contents | Deploying Model Predictive Control on nano-scale aerial platforms is challenging due to the severe computational limitations of onboard microcontrollers. This paper presents an experimental study with computational focus of a dual active-set solver (DAQP) applied to the low-level control of a Crazyflie 2.1 nano-quadcopter. Unlike previous approaches that utilize first-order methods for low-level stabilization or restrict active-set solvers to high-level control, this work demonstrates the successful deployment of a dual active-set method executing at 500 Hz on an STM32F405 microcontroller. We provide a direct benchmark against a state-of-the-art ADMM-based solver (TinyMPC), revealing that the active-set method yields lower execution times for the flight envelopes considered. Furthermore, to manage the complexity of certifying the solver's real-time feasibility, we introduce a data-driven set selection method using Principal Component Analysis. Using this approach, state-of-the-art real-time certification methods can be applied to confirm or reject real-time feasibility already off-line prior to flight. More generally, the experimental results validate that active-set methods are a highly competitive alternative for high-frequency control on resource-constrained hardware and the possibility for their real-time certification adds reliability. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_09342 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | On Real-Time Feasibility of High-Rate MPC using an Active-Set Method on Nano-Quadcopters Wikner, Joel Arnström, Daniel Axehill, Daniel Optimization and Control Deploying Model Predictive Control on nano-scale aerial platforms is challenging due to the severe computational limitations of onboard microcontrollers. This paper presents an experimental study with computational focus of a dual active-set solver (DAQP) applied to the low-level control of a Crazyflie 2.1 nano-quadcopter. Unlike previous approaches that utilize first-order methods for low-level stabilization or restrict active-set solvers to high-level control, this work demonstrates the successful deployment of a dual active-set method executing at 500 Hz on an STM32F405 microcontroller. We provide a direct benchmark against a state-of-the-art ADMM-based solver (TinyMPC), revealing that the active-set method yields lower execution times for the flight envelopes considered. Furthermore, to manage the complexity of certifying the solver's real-time feasibility, we introduce a data-driven set selection method using Principal Component Analysis. Using this approach, state-of-the-art real-time certification methods can be applied to confirm or reject real-time feasibility already off-line prior to flight. More generally, the experimental results validate that active-set methods are a highly competitive alternative for high-frequency control on resource-constrained hardware and the possibility for their real-time certification adds reliability. |
| title | On Real-Time Feasibility of High-Rate MPC using an Active-Set Method on Nano-Quadcopters |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2603.09342 |