The MPC tracking for quadrotor

The controller for quadrotor tracking are include 3 subcontrollers. They are Altititude controller , Position controller and Attitude controller. The detail of them are shown in the Figure below.

The MPC solver is using CasADi.

The tracking of each controller

Implement 3 MPC controller without relation

The altitude tracking

The position tracking

The attitude tracking

The quadrotor tracking

Todo

• Implement LNMPC controller for stable behavior