Linear Parameter Varying Model-Based Predictive Trajectory Tracking Control of Quadrotor

This paper incorporates a constrained Model Predictive Control (MPC) formulation for attitude control of an F450 Quadrotor that has potential of Linear Parameter Varying (LPV) modeling of the attitude subsystem to consider the change in system dynamics. The proposed non-simplified LPV-MPC problem has been solved using Quadratic Programming, while the MPC prediction model has been manipulated to update the system dynamics. Simulation results demonstrate the effectiveness of the trajectory tracking capabilities of the non-simplified LPV-MPC controller over its simplified counterpart.