Tracking Control of Quadrotor Micro Aerial Vehicles Using Efficient Nonlinear Model Predictive Control with C/GMRES Optimization on Resource-Constrained Microcontrollers

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Detalles Bibliográficos
Publicado en:	Electronics vol. 14, no. 14 (2025), p. 2775-2797
Autor principal:	Dong-Min, Lee
Otros Autores:	Jae-Hong, Jung, Yeon-Su, Sim, Gi-Woo, Kim
Publicado:	MDPI AG
Materias:	Microcontrollers Computation Robust control Embedded systems Control algorithms Remote control Number systems Tracking control Microprocessors Optimization Neural networks Predictive control Unmanned aerial vehicles Methods Euler angles Rotary wing aircraft Nonlinear control Real time Micro air vehicles (MAV) Nonlinear equations Constraints Obstacle avoidance
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Descripción
Resumen:	This study investigates the tracking control of quadrotor micro aerial vehicles using nonlinear model predictive control (NMPC), with primary emphasis on the implementation of a real-time embedded control system. Apart from the limited memory size, one of the critical challenges is the limited processor speed on resource-constrained microcontroller units (MCUs). This technical issue becomes critical particularly when the maximum allowed computation time for real-time control exceeds 0.01 s, which is the typical sampling time required to ensure reliable control performance. To reduce the computational burden for NMPC, we first derive a nonlinear quadrotor model based on the quaternion number system rather than formulating nonlinear equations using conventional Euler angles. In addition, an implicit continuation generalized minimum residual optimization algorithm is designed for the fast computation of the optimal receding horizon control input. The proposed NMPC is extensively validated through rigorous simulations and experimental trials using Crazyflie 2.1®, an open-source flying development platform. Owing to the more precise prediction of the highly nonlinear quadrotor model, the proposed NMPC demonstrates that the tracking performance outperforms that of conventional linear MPCs. This study provides a basis and comprehensive guidelines for implementing the NMPC of nonlinear quadrotors on resource-constrained MCUs, with potential extensions to applications such as autonomous flight and obstacle avoidance.
ISSN:	2079-9292
DOI:	10.3390/electronics14142775
Fuente:	Advanced Technologies & Aerospace Database