Explicit Interpolating Control of Unmanned Aerial Vehicle

The paper deals with the constrained suboptimal control of a quadrotor Unmanned Aerial Vehicle (UAV). First the Optimal Control Problem (OCP) with constraints is formulated and afterwards two methodologies that provide an approximate solution to the OCP are introduced. The first one is called Model Predictive Control (MPC) which is standard methodology used in this field and it deals with the OCP on the shorter receding horizon. The second one is Interpolating Control (IC) that uses interpolation of two controllers with different properties, the optimal Linear-Quadratic (LQ) controller and vertex controller for the unconstrained and constrained cases, respectively. Both methodologies are implemented and compared in the simulation on a planar nonlinear model of the UAV.