Data-Driven MPC for Quadrotors

• Published in: IEEE robotics and automation letters Vol. 6; no. 2; pp. 3769 - 3776
• Main Authors: Torrente, Guillem, Kaufmann, Elia, Fohn, Philipp, Scaramuzza, Davide
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.04.2021; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Aerial systems: perception and autonomy; Aerodynamic forces; Aerodynamics; Computational modeling; Control systems; Feedback control; Gaussian process; Gaussian processes; model learning for control; model predictive control; Predictive control; Predictive models; Real time; Rotary wing aircraft; Rotors; Stability; Tracking errors; Trajectory; Vehicle dynamics

Aerodynamic forces render accurate high-speed trajectory tracking with quadrotors extremely challenging. These complex aerodynamic effects become a significant disturbance at high speeds, introducing large positional tracking errors, and are extremely difficult to model. To fly at high speeds, feedb...