With the increasing radius of life now, the demand for drones has shown a blowout growth. In order to improve the tracking accuracy and control stability of UAV, this paper presents a UAV control method based on model predictive control algorithm. Firstly, the four-rotor UAV model is established in the rigid body kinematics and dynamics, and the physical modeling of the UAV is carried out in the ideal condition. After that, the navigation coordinate system and the body coordinate system are introduced, which makes the relevant force analysis and coordinate transformation easier to understand. Then, the model predictive control algorithm is fused with the four-rotor UAV model. The control strategy based on online optimization has the advantages of constrained system variables, rolling optimization and quadratic programming in the optimal control to improve the control accuracy of the UAV. Then, the four-rotor UAV is modeled on MATLAB. Its controller controls the acceleration of the UAV by controlling the tilt Angle of the propeller, and the output of the controller is the target value of the attitude Angle. Finally, it is pointed out that model predictive control can also be applied to UAV cluster and real life, which increases the practicability and scientificity of this study.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Research on UAV Trajectory Tracking Control Based on Model Predictive Control


    Contributors:
    Wang, Jihong (author) / Jia, Wenqi (author)


    Publication date :

    2024-07-26


    Size :

    1248554 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    UAV Trajectory Tracking Based on Model Predictive Control

    Ma, Cheng / Wen, Xu / Yang, Jiadong et al. | Springer Verlag | 2025




    Research on Trajectory Tracking Control of Skid Steering Vehicle Based on Model Predictive Control

    Fan, Zeng / Li, Xueyuan / Zhu, Yuzheng et al. | British Library Conference Proceedings | 2022


    Research on Trajectory Tracking Control of Skid Steering Vehicle Based on Model Predictive Control

    Fan, Zeng / Li, Xueyuan / Zhu, Yuzheng et al. | Springer Verlag | 2022