Dual-Loop MPC Architecture for Quadrotor Control

This study proposes a comprehensive dual-loop MPC framework for quadrotor control, consisting of a velocity-to-attitude reference generator, an outer-loop attitude MPC, and an inner-loop angular velocity MPC. The outer loop derives reference angles (ϕ, θ, ψ) from desired translational velocities, while the inner loop tracks angular dynamics. The system’s performance is evaluated based on overshoot, steady-state error, and RMSE. Simulation results demonstrate reliable tracking and disturbance rejection in all loops under reference variations.