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Unmanned helicopter waypoint trajectory tracking using model predictive control
2007 Mediterranean Conference on Control & Automation
A Model Predictive Control Based Trajectory Tracking (MPCTT) system for small unmanned helicopters is presented. A linear model predictive controller is used to take advantage of the fast algorithms available to solve convex optimization problems. The proposed MPCTT system is compared with a velocity tracking and a position tracking system implemented with classical PIDs from previous research work. Obtained simulation results demonstrate the superiority of the proposed MPCTT approach,doi:10.1109/med.2007.4433726 fatcat:qm66osjhifa7hpsx5dmneqlfxe