Mohammad Sepehri Movafegh - School of Electrical and Computer Engineering, University of Tehran Tehran, Iran
Mohammad Javad Yazdanpanah - Control & Intelligent Processing Center of Excellence (CIPCE), School of Electrical and Engineering University of Tehran, Tehran, Iran
Amin Ramezani - Electrical and Computer Engineering Department Tarbiat Modares University, Tehran, Iran

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.