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Trajectory tracking and stabilization of a quadrotor using model predictive control of Laguerre functions. (English) Zbl 1342.93052

Summary: 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.

MSC:

93B40 Computational methods in systems theory (MSC2010)
93D21 Adaptive or robust stabilization
93C95 Application models in control theory
93C05 Linear systems in control theory

Software:

Matlab
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References:

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