GTO-MPC-Based Target Chasing Using a Quadrotor in Cluttered Environments

Development of a Nonlinear Model Predictive Control-Based Nonlinear Three-Mode Controller for a Nonlinear System

“…This is crucial in the case of the quadrotor trajectory tracking problem. Literature provides different types of predictive control algorithms of both linear ,,,− and non-linear ,,,, nature.…”

“…It is noted that the controllers have been implemented for a linear model of the batch distillation column. , Due to its own advantages in handling the soft and hard constraints, the use of predictive control and other optimal control strategies have been used in the aerospace industry/batch reactor for trajectory tracking problems. This trend is evident by the increase in the literature available in the use of optimal control in autopilot design for multirotor aircrafts, especially, quadrotor systems. − The use of a quadrotor system for real-time experiments with nonlinear model predictive − and simulations ,, for the trajectory tracking problem of the quadrotor system have been presented.…”

“…The nonlinear model predictive control strategy involves the use of an optimization algorithms such as particle swarm optimization, quadratic programming-based optimization, − ,,− improved continuation/generalized minimal residual (iC/GMRES) algorithm, neural networking-based optimization, reinforcement learning based optimization, Laguerre function-based optimization, and so forth. The optimization algorithm in each case is used to minimize the cost function of the predictive algorithm to generate the optimal control input.…”

“…The quadrotor dynamic model in the literature is of two types: Newton–Euler formalism-based − and Newton–Quaternion-based formalism . The Newton–Euler formalism involves the use of Newtonian physics in the derivation of the translational subsystem and Eulerian formulations for the rotational subsystem.…”

Local Motion Planning Subject to Constrained State for Quadrotor with Model Predictive Control

“…As for a local planning, it should make a real-time reaction for environmental changes, such as: obstacles, gust of wind. On account of the uncertainties caused by complex geomorphic environment, the optimization process of path planning is usually by means of receding horizon fashion, which is the same as the working process of MPC [1]. For this article, the problem of a local planning mainly charged by exploring the parametric space of the control input of quadrotor to minimizing a predefined cost function.…”