Model Predictive Control for Autonomous Quadrotor Trajectory Tracking

For a decade the studies of dynamic control for unmanned aerial vehicles took a large interest, where different approaches are proposed dealing with the stability and the nonlinearity issues, which present the most important features of this system. This paper focused on the most common control strategies known as predictive control, by developing a model, based on the sensors embedded in the Tello quad-rotor used for indoors purposes. The original controller of Tello quad-rotor is supposed a slave, where the designed model predictive controller is created in MATLAB and imported to another embedded system supposed as a master. The objectives of this model is to tracking trajectory and avoid obstacles smoothly and precisely, in the first part a deep description of the modeling process of dynamic model for drones is presented, after that explaining the design of the MPC Controller built in MATLAB, Finally simulation and results are discussed regarding its behavior and performance.