An Efficient Model Predictive Control Scheme for an Unmanned Quadrotor Helicopter

  title={An Efficient Model Predictive Control Scheme for an Unmanned Quadrotor Helicopter},
  author={Mahyar Abdolhosseini and Youmin Zhang and Camille Alain Rabbath},
  journal={Journal of Intelligent and Robotic Systems},
In this paper, an efficient Model Predictive Control (eMPC) algorithm deploying fewer prediction points and less computational requirement is presented in order to control a small or miniature unmanned quadrotor helicopter. A model reduction technique associated with the dynamics of an unmanned quadrotor helicopter is also put forward so as to minimize the burden of calculations in application of MPC into an airborne platform. For three-dimensional tracking control of the quadrotor helicopter… CONTINUE READING
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