Model Predictive Control of Quadrotor UAV based on Feedback Linearization

The flight dynamics of quadrotor UAVs exhibit strong nonlinearity and inter-axis coupling, presenting significant challenges to the design of their flight control systems. This paper proposes a new attitude controller integrates feedback linearization model together with predictive control (FLMPC) for the quadrotor UAVs. Model predictive control (MPC) can determine the optimal control input of the system under constraints. Feedback linearization transforms the nonlinear flight dynamics model of the quadrotor UAV into a linear decoupled system, simplifying the solution of the optimal control problem. To validate the effectiveness of the controller, a model of the controlled object and control law is established for attitude control simulation, and comparisons are made with linear MPC and adaptive MPC. The results show that the proposed flight control method can achieve attitude control of the quadrotor UAV with a low computational burden.