An Efficient Real-Time NMPC for Quadrotor Position Control under Communication Time-Delay
The advances in computer processor technology have enabled the application of nonlinear model predictive control (NMPC) to agile systems, such as quadrotors. These sys- tems are characterized by their underactuation, nonlinearities, bounded inputs, and time-delays. Classical control solutions fall short in overcoming these difficulties and fully exploiting the capabilities offered by such platforms.