Design of a Predictive Attitude Controller for a Quadrotor Helicopter

摘要

This paper aims to design a predictive controller for a quadrotor helicopter. First, system dynamic model is presented based on the Newton Euler formalism. Then a model predictive attitude controller is designed according to the linear model. To achieve offset-free tracking performance, the linear model is augmented to take unmodeled dynamics and/or disturbances into account. Several examples are given to demonstrate the effectiveness of the proposed controller.