Real-Time Attitude Quadcopter Control By NMPC


Merabti Halim,Lebcira Abdelkader,Bouchachi Islem,Belarbi Khaled,



Quadcopter,Particle Swarm Optimization algorithm,NMPC Simulation,


In previous works, it has been demonstrated that the NMPC-PSO provides a fast solution and can be used in real time applications. In this paper, the quadcopter attitude is controlled by a nonlinear model predictive controller. This algorithm is implemented on the DJI F450 Quadcopter and executes instructions arriving from the radio controller. Knowledge-based Particle Swarm Optimization algorithm is used to solve the optimization problem of the NMPC. Simulation and experimental results are presented for the studied controller with performance analysis in terms of the computation times and quality of tracking.


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