Model-based Predictive Control of a Quadcopter

This paper presents a discrete-time model-based predictive control (MPC) method, applied to a quadcopter. Thenonlinear part of the dynamic model is linearized around an equilibrium point, and then the stability analysis of the model isconsidered through Lyapunov method. Thereafter, using thelinearized model, an MPC scheme is executed. The model-basedpredictive control is compared with a PID control scheme wheremajor results prove the effectiveness of the predictive approach.The tracking performances and the robustness regarding the fasttrajectory changes are then processed.

کلیدواژه ها:

model predictive control (MPC) ، quadcopter ، dynamic modelization ، model linearization