MPC-Based Trajectory Tracking for a Quadrotor UAV with Uniform Semi-Global Asymptotic Stability Guarantees
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866908919415177216 |
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| author | Yang, Qian Wang, Miaomiao Tayebi, Abdelhamid |
| author_facet | Yang, Qian Wang, Miaomiao Tayebi, Abdelhamid |
| contents | This paper proposes a model predictive trajectory tracking approach for quadrotors subject to input constraints. Our proposed approach relies on a hierarchical control strategy with an outer-loop feedback generating the required thrust and desired attitude and an inner-loop feedback regulating the actual attitude to the desired one. For the outer-loop translational dynamics, the generation of the virtual control input is formulated as a constrained model predictive control problem with time-varying input constraints and a control strategy, endowed with uniform global asymptotic stability guarantees, is proposed. For the inner-loop rotational dynamics, a hybrid geometric controller is adopted, achieving semi-global exponential tracking of the desired attitude. Finally, we prove that the overall cascaded system is semi-globally asymptotically stable. Simulation results illustrate the effectiveness of the proposed approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_27576 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | MPC-Based Trajectory Tracking for a Quadrotor UAV with Uniform Semi-Global Asymptotic Stability Guarantees Yang, Qian Wang, Miaomiao Tayebi, Abdelhamid Systems and Control This paper proposes a model predictive trajectory tracking approach for quadrotors subject to input constraints. Our proposed approach relies on a hierarchical control strategy with an outer-loop feedback generating the required thrust and desired attitude and an inner-loop feedback regulating the actual attitude to the desired one. For the outer-loop translational dynamics, the generation of the virtual control input is formulated as a constrained model predictive control problem with time-varying input constraints and a control strategy, endowed with uniform global asymptotic stability guarantees, is proposed. For the inner-loop rotational dynamics, a hybrid geometric controller is adopted, achieving semi-global exponential tracking of the desired attitude. Finally, we prove that the overall cascaded system is semi-globally asymptotically stable. Simulation results illustrate the effectiveness of the proposed approach. |
| title | MPC-Based Trajectory Tracking for a Quadrotor UAV with Uniform Semi-Global Asymptotic Stability Guarantees |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2603.27576 |