Linear vs Nonlinear MPC for Trajectory Tracking Applied to Rotary Wing Micro Aerial Vehicles

• Published in: IFAC-PapersOnLine Vol. 50; no. 1; pp. 3463 - 3469
• Main Authors: Kamel, Mina, Burri, Michael, Siegwart, Roland
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.07.2017
• Subjects: Path Following; Predictive Control; Real-time control; Trajectory Tracking; UAVs; Predictive Control; Real-time control; Path Following; Trajectory Tracking; UAVs

Precise trajectory tracking is a crucial property for Micro Air Vehicles (MAVs) to operate in cluttered environment or under disturbances. In this paper we present a detailed comparison between two state-of-the-art model-based control techniques for MAV trajectory tracking. A classical Linear Model...