Towards Energy Saving: Nonlinear Model Predictive Control for Quadrotor UAV with Trajectory Optimization
Bilal Asaad Mubdir, Emmanuel Prempain · 2024
In this paper, a Nonlinear Model Predictive Control is proposed to make a Quadrotor UAV track an energy-efficient trajectory generated offline. The dynamically constrained, open-loop control problem is solved once and provides an energy-efficient trajectory that will have to be tracked by the quadrotor. The preliminary results demonstrate a noteworthy reduction in energy consumption when compared with the use of a standard MPC feedback controller. A 37% of energy saving was achieved in some cases