@inproceedings{de98dbb7d0c7450a9d7ea679264997ab,
title = "Ground Moving Target Tracking with Quadrotors using Nonlinear Model Predictive Control",
abstract = "In this paper, we provide a method for a quadrotor to track a ground moving target (GMT). The least squares method is used to obtain a series of reference trajectories generated by the GMT. The tracking is accomplished by applying a novel nonlinear model predictive control (MPC) scheme. The nonlinear MPC scheme applied can deal with the dynamic trajectory tracking problem of nonlinear systems by using reference generic terminal ingredients. After obtaining the reachable reference trajectories and calculating the terminal ingredients of the nonlinear MPC problem, the nonlinear MPC problem can be solved online to obtain the control inputs that enable the quadrotor to accurately track the GMT. A simulation experiment is conducted to verify the efficacy of this method.",
keywords = "Dynamic trajectory tracking, Nonlinear model predictive control, Quadrotor",
author = "Peizhan Wang and Li Dai and Ruochen Xue and Da Huo and Yuanqing Xia",
note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 Chinese Automation Congress, CAC 2022 ; Conference date: 25-11-2022 Through 27-11-2022",
year = "2022",
doi = "10.1109/CAC57257.2022",
language = "English",
series = "Proceedings - 2022 Chinese Automation Congress, CAC 2022",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "5905--5910",
booktitle = "Proceedings - 2022 Chinese Automation Congress, CAC 2022",
address = "United States",
}
