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Abstract and Applied Analysis
Volume 2015, Article ID 916864, 11 pages
http://dx.doi.org/10.1155/2015/916864
Research Article

Trajectory Tracking and Stabilization of a Quadrotor Using Model Predictive Control of Laguerre Functions

1Department of Electronic Engineering, Chonbuk National University, Room 421, Engineering Building No. 7, 567 Baekje-daero, Deokjin-gu, Jeonju-si, Jeollabuk-do 561-756, Republic of Korea
2Department of Mechanical Engineering, Kunsan National University, Republic of Korea

Received 12 September 2014; Accepted 29 October 2014

Academic Editor: Sakthivel Rathinasamy

Copyright © 2015 Mapopa Chipofya et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

This paper presents a solution to stability and trajectory tracking of a quadrotor system using a model predictive controller designed using a type of orthonormal functions called Laguerre functions. A linear model of the quadrotor is derived and used. To check the performance of the controller we compare it with a linear quadratic regulator and a more traditional linear state space MPC. Simulations for trajectory tracking and stability are performed in MATLAB and results provided in this paper.