In recent years, quadrotors have received attention from a wide range of scholars. For the flight control of quadrotors, trajectory tracking control is particularly important. This paper introduces a Lyapunov-based backstepping model predictive control (LBMPC) method to address the quadrotor trajectory tracking problem under input saturation. Firstly, the mathematical formulation of the quadrotor is introduced, and the position model and attitude model are written separately. For the position controller, the backstepping control is adopted, while for the attitude controller, the Lyapunov-based model predictive control is used. Then, the stability of the system using the LBMPC is demonstrated. Finally, the simulation results show that LBMPC is able to complete the trajectory tracking task with input saturation.
Lyapunov-Based Backstepping Model Predictive Control for Quadrotors
22.03.2024
666893 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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