对比线性与非线性模型预测控制，提升无人机轨迹跟踪精度
Quadrotor Trajectory Tracking Using Linear and Nonlinear Model Predictive Control
- 采用线性与非线性模型预测控制框架实现轨迹跟踪
- 仿真验证表明两种控制器均有效提升跟踪性能
- 适合无人机控制、自动驾驶等高精度轨迹需求场景
精确的轨迹跟踪是四旋翼无人机在复杂或干扰环境中安全导航的关键。本文详细介绍了两种先进的基于模型的轨迹跟踪控制框架：线性模型预测控制（LMPC）与非线性模型预测控制（NMPC）。同时，全面描述了四旋翼机的运动学与动力学模型。最后，搭建仿真系统验证了方法可行性，结果表明两种控制器均能有效实现高精度轨迹跟踪。
原文摘要 · Abstract (English)
Accurate trajectory tracking is an essential characteristic for the safe navigation of a quadrotor in cluttered or disturbed environments. In this paper, we present in detail two state-of-the-art model-based control frameworks for trajectory tracking: the Linear Model Predictive Controller (LMPC) and the Nonlinear Model Predictive Controller (NMPC). Additionally, the kinematic and dynamic models of the quadrotor are comprehensively described. Finally, a simulation system is implemented to verify feasibility, demonstrating the effectiveness of both controllers.
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