Quadrotor Control using a Multilayer MPC-MHE Scheme based on LPV and Feedback Linearization Approaches

This paper presents an MPC-based control scheme for unmanned aerial vehicles (UAVs) of quadrotor type that can operate in real-time. The proposed approach is based on a multi-layer model predictive control architecture that uses linear parameter varying (LPV) and feedback linearization techniques in the inner and outer layer, respectively. In the outer layer, the non-linear dynamics of the transitional control are linearized using feedback linearization, followed by the implementation of a combination of linear model predictive control (MPC) and moving horizon estimator (MHE) schemes. In the inner layer, the attitude control utilizes the LPV approach to formulate an LPV MPC controller and MHE estimator. Through simulation using a high-fidelity simulator of a real UAV, the effectiveness of the proposed control scheme is demonstrated in terms of tracking performance and computation time. Furthermore, a comparison with other similar approaches in the literature is included to showcase the advantages of the proposed scheme.