A model predictive controller for quadrocopter state interception

This paper presents a method for generating quadrocopter trajectories in real time, from some initial state to a final state defined by position, velocity and acceleration in a specified amount of time. The end state captures the attitude to within a rotation about the thrust axis. Trajectory generation is done by formulating the trajectory of the quadrocopter in its jerk, in discrete time, and then solving a convex optimisation problem on each decoupled axis. Convex bounds are derived to include feasibility constraints with respect to the quadrocopter's total allowable thrust and angular rates.