Trajectory tracking with model predictive control for an unmanned quad-rotor helicopter: Theory and flight test results

Abstract

In this paper, by effective use of a fast Quadratic Programing solver known as Hildreth's Quadratic Programing Procedure, as well as adaptation of an Integral-Action-Embedded Model Predictive controller, it has been tried to design an autopilot control system for the purpose of three-dimensional trajectory tracking of an unmanned quad-rotor helicopter. Eventually, to demonstrate effectiveness and performance of the designed autopilot in addition to the simulation results, the suggested constrained MPC framework is successfully implemented on an unmanned quad-rotor helicopter testbed (known as Qball-X4) available at the Networked Autonomous Vehicles Lab. (NAVL) of Concordia University for three-dimensional autonomous flights of the system. © Springer-Verlag Berlin Heidelberg 2012.