MPC Control of Quadcopter

Jan 4, 2021
Final project for ME-425 Model Predictive Control
Lecturer: Prof. Colin Jones
  • MPC controller design in matlab with Gurobi and Casadi optimizer.
  • linear MPC for decomposed quadcopter systems
  • offset-free MPC tracking regulator in case of fluctuating quadcopter mass
  • non-linear MPC for integral quadcopter system
Demo
Trajectory following with combined linear MPC controller
 Demo
Trajectory recovery from mass disturbance with offset-free MPC controller
 Demo
Trajectory following with non-linear MPC controller
Quadcopter trajecotry following with combined linear MPC controller
Quadcopter states during offset-free MPC simulation
 Demo
Quadcopter states during NMPC simulation
Control Model Predictive Control
Chuanfang Ning
Chuanfang Ning
Msc Student in Robotics @ EPFL

Versatility makes Vision. Practice makes Proficiency.