An optimal hybrid quadcopter control technique with MPC-based backstepping
Solomon C. Nwafor,
Joy N. Eneh,
Mmasom I. Ndefo
et al.
Abstract:Quadcopter unmanned aerial vehicle is a multivariable, coupled, unstable, and underactuated system with inherent nonlinearity. It is gaining popularity in various applications and has been the subject of numerous research studies. However, modelling and controlling a quadcopter to follow a trajectory is a challenging issue for which there is no unique solution. This study proposes an optimal hybrid quadcopter control with MPC-based backstepping control for following a reference trajectory. The outer-loop contr… Show more
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