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Fast Nonlinear Model Predictive Control of Quadrotors
Progress in Canadian Mechanical Engineering. Volume 3
This paper proposes a computationally fast scheme for implementing Nonlinear Model Predictive Control (NMPC) as a high-level controller for unmanned quadrotors. The NMPC-based controller is designed using a more realistic highly nonlinear control-oriented model which requires heavy computations for practical implementations. To deal with this issue, the Newton generalized minimal residual (Newton/GMRES) method is applied to solve the NMPC's real-time optimizations rapidly during the controldoi:10.32393/csme.2020.1180 fatcat:2clr4xnpjnayfllv3m26wr7uv4