Simulation Studies of Nonlinear Model Predictive Controller for Hexsoon EDU 450 Quadrotor Trajectory Tracking

This work mainly focuses on the simulation study of the Nonlinear Model Predictive Controller for the trajectory tracking of the Hexsoon Edu 450 quadrotor. Initially, both kinematic and dynamic equations of the quadrotor is developed based on the Newton Euler formulation. Then the parameters of Hexsoon Edu 450 quadrotor are calculated. Nonlinear Model predictive controller algorithm is developed for smooth trajectory tracking of Quadrotor, the cost function of the NMPC and the constraints that is affecting the system is formulated based on the parameters that are estimated from the quadrotor model, then the Nonlinear trajectory tracking algorithm is developed. The developed algorithm is simulated on Hexsoon Edu 450 quadrotor model to check the effectiveness of the algorithm.