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MPC for high speed trajectory tracking
MPC for high speed trajectory tracking
Keywords: model predictive control optimization fast agile flight racing tracking planning
Many algorithms exist for model predictive control for trajectory tracking for quadrotors and equally many implementation advantages and disadvantages can be listed. This thesis should find the main influence factors on high speed/high precision trajectory tracking such as: modell accuracy, aerodynamic forces modelling, execution speed, underlying low-level controllers, sampling times and sampling strategies, noise sensitivity or even come up with a novel implementation.
Many algorithms exist for model predictive control for trajectory tracking for quadrotors and equally many implementation advantages and disadvantages can be listed. This thesis should find the main influence factors on high speed/high precision trajectory tracking such as: modell accuracy, aerodynamic forces modelling, execution speed, underlying low-level controllers, sampling times and sampling strategies, noise sensitivity or even come up with a novel implementation.
The end-goal of the thesis should be a comparison of the influence factors and based on that a recommendation or even implementation of an improved solution.
The end-goal of the thesis should be a comparison of the influence factors and based on that a recommendation or even implementation of an improved solution.
