This paper presents a solution to stability and trajectory tracking of a quadrotor system using a model predictive controller designed using a type of orthonormal functions called Laguerre functions. A linear model of the quadrotor is derived and used. To check the performance of the controller we compare it with a linear quadratic regulator and a more traditional linear state space MPC. Simulations for trajectory tracking and stability are performed in MATLAB and results provided in this paper.
"Trajectory Tracking and Stabilization of a Quadrotor Using Model Predictive Control of Laguerre Functions." Abstr. Appl. Anal. 2015 (SI03) 1 - 11, 2015. https://doi.org/10.1155/2015/916864