Non-Linear Model Predictive Control Using CasADi Package for Trajectory Tracking of Quadrotor

In this paper, we present the development of a non-linear model predictive controller for the trajectory tracking of a quadrotor using the CasADi optimization framework. The non-linear dynamic model of the quadrotor was derived using Newton–Euler equations, and the control algorithm and drone dynami...

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Bibliographic Details

Published in:	Energies
Main Authors:	Mohamed Elhesasy, Tarek N. Dief, Mohammed Atallah, Mohamed Okasha, Mohamed M. Kamra, Shigeo Yoshida, Mostafa A. Rushdi
Format:	Article
Language:	English
Published:	MDPI AG 2023-02-01
Subjects:	model predictive control (MPC) non-linear MPC (NLMPC) CasADi quadrotor PID Simulink
Online Access:	https://www.mdpi.com/1996-1073/16/5/2143