Model Predictive Control for Quadcopters With Almost Global Trajectory Tracking Guarantees

• 成果类型: Article
• 署名作者: Andrien, A. R. P.; Lefeber, E.; Antunes, D. J.; Heemels, W. P. M. H.
• 署名单位: Eindhoven University of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3349098
• 发表日期: 2024
• 页码: 5216-5230
• 关键词: Quadrotors; trajectory; aerodynamics; asymptotic stability; predictive models; drag; CONVERGENCE; Global stability; model predictive control (MPC); quadcopters; Trajectory tracking

摘要

This article provides a new method for trajectory tracking for quadcopters following a cascaded control approach with formal closed-loop tracking guarantees. An outer-loop model predictive controller generates twice differentiable acceleration references, which provide attitude, angular velocity, and acceleration references for a nonlinear inner-loop controller. The model predictive controller allows for tracking of references while explicitly considering that the thrust of the quadcopter is upper and lower limited. It is proven that the overall strategy renders the trajectory tracking errors uniformly almost globally asymptotically stable. Via a numerical case study, the advantages of the novel method are highlighted.