Trajectory Tracking and Stabilization of a Quadrotor Using Model Predictive Control of Laguerre Functions

Abstract EN

This paper presents a solution to stability and trajectory tracking of a quadrotor system using a model predictive controller designed using a type of orthonormal functions called Laguerre functions.

A linear model of the quadrotor is derived and used.

To check the performance of the controller we compare it with a linear quadratic regulator and a more traditional linear state space MPC.

Simulations for trajectory tracking and stability are performed in MATLAB and results provided in this paper.