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

Abstract and Applied Analysis

MapopaChipofya¹  Deok JinLee¹  Kil ToChong¹ 

DOI  :  10.1155/2015/916864

学科分类：数学（综合）

来源: Hindawi Publishing Corporation

【 摘 要 】

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.

【 授权许可】

Unknown