We study the performance of using nonlinear MPC on quadrotor fail-safe problem. The result is amazing.
We systematically compare two state-of-the-art flight controllers for quadcopter agile flights, nonlinear MPC and differential-flatness-based controller.
This work proposes a novel control methods for quadcopter agile flights using model-predictive-contouring control.
We propose L1-MPC, an adaptive-model-predictive control framework showing impressive performance against model uncertainties and disturbances.
We introduce a flight controller that can recover a quadrotor with one rotor complete off from arbitrary initial orientations and body rates.