Real-time Nonlinear Model Predictive Control for Quadrotor Trajectory Tracking
A fast online MPC for quadrotor trajectory tracking. It outputs either the next optimal control input or trajectory of its states over the defined prediction horizon in discrete-time. The nonlinear dynamics are derived from Newton-Euler and Euler-Lagrange equations. Acados employs 4th-order Runge-Kutta integration and multiple direct shooting trajectory optimization. More details regarding the control formulation and results from Crazyflie 2.0 dynamics below.