Nonlinear Predictive Control Approach to Trajectory Tracking of a Quadrotor Subject to Wind-Gusts

This paper presents a nonlinear predictive control for quadrotor helicopter path following. The proposed control structure is a hierarchical scheme with three sequential generalmodel predictive controller. In order to reduce computational burden, a globally feasible feedback linearization is exertedon distributed nonlinear model to obtain a linear dynamic description for the system. A remarkable drawback of such approaches is a nonlinear set of constraints appearing on thenew inputs, which in this paper an alternative is proposed to explicitly overcome that . The integral of the position error isconsidered to achieve null steady state error. The simulation results verify the effectiveness of the proposed method in thepresence of aerodynamic disturbances.