LPV MPC Control of an Autonomous Aerial Vehicle

This work proposes the use of the LPV MPC approach for the position-heading control problem of a small quadrotor. The use of a LPV representation of the attitude subsystem allows to consider it as independent from the position one allowing the use of a cascade control structure. For the inner attitude control loop, the proposed LPV MPC controller is solved efficiently using quadratic programming. The proposed approach is applied to an AscTec Hummingbird UAV in simulation.