Development and Control of Quadrotors Using Constrained Model Predictive Control in a Co-Simulation Environment

Model Predictive Control (MPC) is commonly used to solve flight control problems in quadrotors due to its ability to handle multivariate and practical constraints. Considering its computational problem, which may lead to untimely control signal updates and thus affect flight stability, we adopt cascade control, where an MPC controller is used for attitude control in the inner loop, and a PD controller is used for position control in the outer loop to reduce the computational load. In the inner loop, physical constraints are considered, and an augmented MPC is constructed to reduce the steady-state error. Finally, we build a co-simulation environment based on Matlab and Coppeliasim to verify the proposed control scheme.