quadrotor_mpc
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duynamrcv
The implement for the Quadrotor trajectory tracking using MPC with CasADi library
The MPC tracking for quadrotor
The controller for quadrotor tracking are include 3 subcontrollers. They are Altititude controller , Position controller and Attitude controller. The detail of them are shown in the Figure below.
The MPC solver is using CasADi.
The tracking of each controller
Implement 3 MPC controller without relation
The altitude tracking
The position tracking
The attitude tracking
The quadrotor tracking
Todo
- Implement LNMPC controller for stable behavior
duynamrcv