Dual-Loop MPC Architecture for Quadrotor Control
DOI:
https://doi.org/10.61173/xejbpp39Keywords:
Quadrotor, Model Predictive Control, Du-al-Loop Control, Attitude Tracking, Velocity-Attitude MappingAbstract
This study proposes a comprehensive dual-loop MPC framework for quadrotor control, consisting of a velocity-to-attitude reference generator, an outer-loop attitude MPC, and an inner-loop angular velocity MPC. The outer loop derives reference angles (ϕ, θ, ψ) from desired translational velocities, while the inner loop tracks angular dynamics. The system’s performance is evaluated based on overshoot, steady-state error, and RMSE. Simulation results demonstrate reliable tracking and disturbance rejection in all loops under reference variations.
References
[1] Bangura, M., & Mahony, R. (2014). Real-time model predictive control for quadrotors. IFAC Proceedings Volumes, 47(3), 11773-11780.
[2] Abdolhosseini, M., Zhang, Y. M., & Rabbath, C. A. (2013). An efficient model predictive control scheme for an unmanned quadrotor helicopter. Journal of intelligent & robotic systems, 70, 27-38.
[3] Wang, D., Pan, Q., Shi, Y., Hu, J., & Zhao, C. (2021). Efficient nonlinear model predictive control for quadrotor trajectory tracking: Algorithms and experiment. IEEE Transactions on Cybernetics, 51(10), 5057-5068.
[4] Guardeño, R., López, M. J., & Sánchez, V. M. (2019). MIMO PID controller tuning method for quadrotor based on LQR/LQG theory. Robotics, 8(2), 36.
[5] Beard, R. W. (2008). Quadrotor dynamics and control. Brigham Young University, 19(3), 46-56.
[6] Tang, Y. R., Xiao, X., & Li, Y. (2017). Nonlinear dynamic modeling and hybrid control design with dynamic compensator for a small-scale UAV quadrotor. Measurement, 109, 51-64.
[7] Altamash, S., Amir, P., & Adnan, S. (2016). KINEMATIC, D Y N A M I C M O D E L I N G A N D S I M U L AT I O N O F QUADCOPTER. AIKTC, New Panvel.
[8] Mandre, I. (2008, February). Rigid body dynamics using Euler’s equations, Runge-Kutta and quaternions.
[9] Artale, V., Milazzo, C. L., & Ricciardello, A. (2015). A quaternion-based simulation of multirotor dynamics. International Journal of Modeling, Simulation, and Scientific Computing, 6(01), 1550009.
[10] Qin, Z. C., Xin, Y., & Sun, J. Q. (2020). Dual-loop robust attitude control for an aerodynamic system with unknown dynamic model: Algorithm and experimental validation. IEEE Access, 8, 36582-36594. Dean&Francis Boxi Xue
[11] Zou, Z., Yang, S., & Zhao, L. (2024). Dual-loop control and state prediction analysis of QUAV trajectory tracking based on biological swarm intelligent optimization algorithm. Scientific Reports, 14(1), 19091.
[12] Xia, D., Cheng, L., & Yao, Y. (2017). A robust inner and outer loop control method for trajectory tracking of a quadrotor. Sensors, 17(9), 2147.
[13] Hanover, D., Foehn, P., Sun, S., Kaufmann, E., & Scaramuzza, D. (2021). Performance, precision, and payloads: Adaptive nonlinear mpc for quadrotors. IEEE Robotics and Automation Letters, 7(2), 690-697.
[14] Nwafor, S. C., Eneh, J. N., Ndefo, M. I., Ugbe, O. C., Ugwu, H. I., & Ani, O. (2024). An optimal hybrid quadcopter control technique with MPC-based backstepping. Archives of Control Sciences, 34.
[15] Mughees, A., Ahmad, I., Mughees, N., & Mughees, A. (2024). Conditioned adaptive barrier-based double integral super twisting SMC for trajectory tracking of a quadcopter and hardware in loop using IGWO algorithm. Expert Systems with Applications, 235, 121141.
[16] van Osnabrugge, I. (2025). Utilizing Model Predictive Control to Haptically Assist Users in Piloting a Quadcopter.
[17] Hui, N., Guo, Y., Han, X., & Wu, B. (2024, October). Robust H-Infinity Dual Cascade MPC-Based Attitude Control Study of a Quadcopter UAV. In Actuators (Vol. 13, No. 10).
[18] Hanover, D., Foehn, P., Sun, S., Kaufmann, E., & Scaramuzza, D. (2021). Performance, precision, and payloads: Adaptive nonlinear mpc for quadrotors. IEEE Robotics and Automation Letters, 7(2), 690-697.
[19] Strampe, T., & Zhang, Y. (2025). Control Architecture and Nonlinear MPC for Hybrid UAVs With Actuator Failure. In AIAA SCITECH 2025 Forum (p. 2428).
Downloads
Published
Issue
Section
License
Copyright (c) 2025 by the authors.
This work is licensed under a Creative Commons Attribution 4.0 International License.
