Nonlinear Model Predictive Control of a Quadrotor
Tutor / director / evaluatorPuig Cayuela, Vicenç
Document typeMaster thesis
Rights accessOpen Access
One of the most important features of a quadrotor in order to properly work, generally in some sort of path tracking, is to have a suitable control. This thesis will approach the problem of controlling a quadrotor applying the control technique known as Nonlinear Model Predictive Control. First, this control should guarantee stability and feasibility, and then the control parameters are tuned to obtain the better possible performance. Proper simulations will be performed by selecting different situations in terms of path tracking references, as well as in terms of the accuracy level of the control model with respect to the real system represented by a high-fidelity model. Additionally, the requirements for the controller to work in real time will be explored and discussed.