Research on control of quadcopter UAV based on nonlinear model predictive control algorithm

LIU Xiang; WEI Ying; MA Feiyue; WU Min; CHEN Lei; CHA Hui

doi:10.3969/j.issn.1672-3643.2024.04.012

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Research on control of quadcopter UAV based on nonlinear model predictive control algorithm

更新时间：2026-06-27

- Research on control of quadcopter UAV based on nonlinear model predictive control algorithm
- Ningxia Electric Power Issue 4, (2024)
- 作者机构：
  
  1. 国网宁夏电力有限公司石嘴山供电公司,宁夏,石嘴山,753000
  2. 国网宁夏电力有限公司电力科学研究院,宁夏,银川,750011
- 作者简介：
- 基金信息：
- DOI：10.3969/j.issn.1672-3643.2024.04.012
  CLC：
- Online First：19 September 2024，
  
  Published：2024
- 稿件说明：
移动端阅览
LIU Xiang, WEI Ying, MA Feiyue, et al. Research on control of quadcopter UAV based on nonlinear model predictive control algorithm[J]. Ningxia Electric Power, 2024, (4).
DOI：

LIU Xiang, WEI Ying, MA Feiyue, et al. Research on control of quadcopter UAV based on nonlinear model predictive control algorithm[J]. Ningxia Electric Power, 2024, (4). DOI： 10.3969/j.issn.1672-3643.2024.04.012.

摘要

针对四旋翼无人机的运行轨迹跟踪、姿态控制问题，建立了完整四旋翼的动力学模型，并针对该动力学模型设计了一种基于非线性模型预测控制算法的四旋翼无人机控制器，实现了具备输入输出状态约束以及一定的抗干扰能力的四旋翼无人机轨迹跟踪、姿态控制，并通过数值仿真实验验证了该方法的可行性。

Abstract

Addressing the flight trajectory tracking and attitude control of four-rotor unmanned aerial vehicles(UAVs)

this study presents a comprehensive dynamic model for quadrotors.A controller based on a nonlinear model predictive control algorithm is designed specifically for this dynamic model

facilitating trajectory tracking and attitude control of the quadrotor UAV with constraints on input and output states

as well as notable anti-interference capabilities.The feasibility of the proposed method is verified by numerical simulation experiments.

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