Autonomous Quadcopter Trajectory Tracking with MPC
Namira Fathani, Ari Santoso, Mochammad Sahal, Imam Arifin · 2024
Quadcopters have a nonlinear model, multivariable systems, and six degrees of freedom (6-DOF) to control four actuators. In this study, the quadcopter used feedback linearization model to control the position and Model Predictive Control (MPC) based on Linear Parameters Varying (LPV) to control the attitude of the quadcopter. Position controller of supposed method used feedback linearization for linearized the system. The input for controlling position used in state feedback. Pole placement also used for placing the pole of the position equation into stable one. For reaching the pole, Proportional-Derivative controller used to improve the results. The attitude controller used LPV as the varying parameters contain of the acceleration of euler angles and the angular rates of each rotors. The simulation was performed to examine the performance. The simulation results show that the designed control algorithm can track the trajectory. The analysis shows that the proposed controller have RMSE 0.2225, this result based on trajectory result and reference.