Trajectory Tracking and Stabilization of a Quadrotor Using Model Predictive Control of Laguerre Functions

Mapopa Chipofya, Deok Jin Lee and Kil To Chong

Abstract and Applied Analysis, 2015, vol. 2015, 1-11

Abstract:

This paper presents a solution to stability and trajectory tracking of a quadrotor system using a model predictive controller designed using a type of orthonormal functions called Laguerre functions. A linear model of the quadrotor is derived and used. To check the performance of the controller we compare it with a linear quadratic regulator and a more traditional linear state space MPC. Simulations for trajectory tracking and stability are performed in MATLAB and results provided in this paper.

Date: 2015
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlaaa:916864

DOI: 10.1155/2015/916864

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