A tracking error control approach for model predictive position control of a quadrotor with time varying reference.

In mobile robotic applications, a common problem is the following of a given trajectory with a constant velocity. Using standard model predictive control (MPC) for tracking of time varying trajectories leads to a constant tracking error. This problem is modelled in this paper as quadrotor position tracking problem. The presented solution is a computationally light-weight target position control (TPC), that controls the tracking error of MPCs for constantly moving targets. The proposed technique is assessed mathematically in the Laplace domain, in simulation, as well as experimentally on a real quadrotor system