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An explicit MPC for quadrotor trajectory tracking

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conference contribution
posted on 2015-09-04, 14:58 authored by Cunjia LiuCunjia Liu, Hao Lu, Wen-Hua ChenWen-Hua Chen
This paper intends to provide an explicit solution of model predictive control (MPC) for trajectory tracking of quadro- tors. This kind of MPC can be designed in a conventional way where a nonlinear optimisation problem needs to be solved online. In this paper by using the differential flatness property of the quadrotor, the reference trajectory, system outputs and inputs can be represented using Bezier curves. Thus, the formulated optimisation problem can be parameterised and converted into standard quadratic programming. The resulted quadratic programming problem can be further formulated into multiparametric quadratic programming which is then solved off-line as a piecewise affine function. The involved manipulations including the reduction of the number of optimisation variables and constraints are detailed in this paper. The performance of the proposed control scheme is demonstrated in a simulation study.



  • Aeronautical, Automotive, Chemical and Materials Engineering


  • Aeronautical and Automotive Engineering

Published in

The 34th Chinese Control Conference


LIU, C., LU, H. and CHEN, W.-H., 2015. An explicit MPC for quadrotor trajectory tracking. Presented at: The 34th Chinese Control Conference and SICE Annual Conference 2015 (CCC & SICE 2015), 28th-30th July 2015, Hangzhou, China.




  • AM (Accepted Manuscript)

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Hangzhou, China