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In this paper, a linear model predictive control is proposed to realize the trajectory tracking of a quadrotor on a moving platform in an indoor environment. The tracking process is mainly divided into three steps: detecting the waypoints of the moving platform, using Bezier curve to generate the expected trajectory based on the waypoints, and using model predictive control to track the trajectory. The quadrotor UAV’s dynamics model and kinematics model are used as a reference model for model predictive control. The trajectory tracking capability of the controller is verified by software simulation in the loop.

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UAV Trajectory Tracking Based on Model Predictive Control

  • 会议论文

  • 发表日期：

    2025年

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  • Cheng Ma,
  • Xu Wen,
  • Jiadong Yang,
  • Tao Chao

摘要

In this paper, a linear model predictive control is proposed to realize the trajectory tracking of a quadrotor on a moving platform in an indoor environment. The tracking process is mainly divided into three steps: detecting the waypoints of the moving platform, using Bezier curve to generate the expected trajectory based on the waypoints, and using model predictive control to track the trajectory. The quadrotor UAV’s dynamics model and kinematics model are used as a reference model for model predictive control. The trajectory tracking capability of the controller is verified by software simulation in the loop.