Saeed Karimi - Department of Electrical Engineering Malek-Ashtar University of Technology Tehran, Iran
Mohammad Salimi - Department of Energy Engineering and Physics Amirkabir University of Technology Tehran, Iran
Saeed Setayeshi - Department of Energy Engineering and Physics Amirkabir University of Technology Tehran, Iran

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.

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