MPC-Based Trajectory Tracking for a Quadrotor UAV with Uniform Semi-Global Asymptotic Stability Guarantees

摘要

This paper proposes a model predictive trajectory tracking approach for quadrotors subject to input constraints. Our proposed approach relies on a hierarchical control strategy with an outer-loop feedback generating the required thrust and desired attitude and an inner-loop feedback regulating the actual attitude to the desired one. For the outer-loop translational dynamics, the generation of the virtual control input is formulated as a constrained model predictive control problem with time-varying input constraints and a control strategy, endowed with uniform global asymptotic stability guarantees, is proposed. For the inner-loop rotational dynamics, a hybrid geometric controller is adopted, achieving semi-global exponential tracking of the desired attitude. Finally, we prove that the overall cascaded system is semi-globally asymptotically stable. Simulation results illustrate the effectiveness of the proposed approach.