Model Based Control of Quadcopters

This project sets its objectives in the construction of a quadopter, in obtaining its mathematical model and the development of a linear MPC with the intention of a future implementation of this controller inside the onboard computer for a real time control of the position of the drone. First a general look is taken into the parts that form the drone and its software with practical observations directed to ease the introduction to future students that may continue with the project. Then the drone and its attitude controller are modeled and a linear MPC is implemented in simulation in order to test its feasibility for a future implementation. Both, setpoint tracking and trajectory tracking are tested. Possible improvements to the linear MPC, like the usage of sequential linearization, are presented in order to solve some of the constraints that a linear MPC may have when dealing with a non linear system