Frugal MPC for quadrotor trajectory control

https://doi.org/10.58571/CNCA.AMCA.2025.075

Resumen: This work presents the design and numerical validation of a Frugal Model Predictive Control (FMPC) scheme for trajectory tracking in a quadrotor-type unmanned aerial vehicle (UAV). Considering the computational limitations of embedded platforms, the proposed controller is based on a reduced model and a control parametrization that reduces the number of decision variables from 90 to 6, enabling the enforcement of explicit constraints on position, acceleration, and slew rate. A convex quadratic formulation is adopted with a prediction horizon of 30 steps and a sampling time of 0.01 s. Simulations demonstrate accurate tracking under active constraints, with computation times suitable for real-time implementation.

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Vásquez-Cruz, R., Castellanos-Velasco, E., González-Díaz, V., Castañeda-Camacho, J. & Guerrero-Castellanos, J. (2025). Frugal MPC for quadrotor trajectory control. Memorias del Congreso Nacional de Control Automático 2025, pp. 439-444. https://doi.org/10.58571/CNCA.AMCA.2025.075

Palabras clave

Predictive control, aerial robotics, state and control constraints.

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