Multirotor Drones: Chapter 6
1. Prerequisites
Kinematics, Dynamics, linear algebra, pid control, mpc, sensors and sensing
2. General Motivation
Chapter 6: Advanced Control (MPC)
Objective: Generate smooth, feasible paths that respect the drone's physical limits.
6.1 Geometric Control
6.2 MPC
6.2.1 Formulation
6.2.2 Linear/non-linear
Linear vs. Non-linear MPC