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.


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


Full Text: DOI


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