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SCIENCE CHINA Information Sciences, Volume 65 , Issue 6 : 169202(2022) https://doi.org/10.1007/s11432-020-3053-y

Nonlinear model predictive control for trajectory tracking of quadrotors using Lyapunov techniques

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  • ReceivedApr 12, 2020
  • AcceptedAug 1, 2020
  • PublishedMar 17, 2021

Abstract

There is no abstract available for this article.


Acknowledgment

This work was supported by National Natural Science Foundation of China (Grant No. 62073264).


Supplement

Appendixes A–F.


References

[1] Wang R, Liu J. Trajectory tracking control of a 6-DOF quadrotor UAV with input saturation via backstepping. J Franklin Institute, 2018, 355: 3288-3309 CrossRef Google Scholar

[2] Hu J, Zhang H, Liu L. Convergent Multiagent Formation Control With Collision Avoidance. IEEE Trans Robot, 2020, : 1-14 CrossRef Google Scholar

[3] Worthmann K, Mehrez M W, Zanon M. Model Predictive Control of Nonholonomic Mobile Robots Without Stabilizing Constraints and Costs. IEEE Trans Contr Syst Technol, 2016, 24: 1394-1406 CrossRef Google Scholar

  • Figure 1

    (Color online) The TT and OA control performance under the proposed nonlinear model predictive control algorithm. (i) NMPC formulation; (ii) experimental setup; (iii) control performance in the simulations; (iv) control performance in the experiment.