Tracking Control of Quadcopter Using Explicit Nonlinear Model Predictive Control

This paper presents a nonlinear continuous-time generalized predictive control strategy to solve the path following problem for a quadcopter. The dynamic motion equations of quadcopter are obtained by the Newton-Euler formalism. Based on a cost function minimization, the proposed controller is characterized by its explicit formulation which can lead to a simple implementation and by its ease tuning where only one design parameter should be manipulated.

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