Generalized predictive control for trajectory tracking of a quadcopter vehicle

This article proposes a control strategy based on the constrained generalized predictive control (GPC) in combination with a geometric attitude controller for trajectory tracking of the quadcopter vehicle. The generalized predictive control approach allows tracking time varying trajectories using optimal control actions to meet constraints on the desired trajectory. The geometric attitude controller tracks the reference attitude defined by the generalized predictive controller. The proposed controller is tested experimentally in a low-cost quadcopter instrumented with an attitude and heading reference system and an infrared camera based positioning system.