Data-Driven MPC for Quadrotors

Understand

Aerodynamic forces render accurate high-speed trajectory tracking with quadrotors extremely challenging.

• These complex aerodynamic effects become a significant disturbance at high speeds, introducing large positional tracking errors, and are extremely difficult to model.
• To fly at high speeds, feedback control must be able to account for these aerodynamic effects in real-time.
• This necessitates a modelling procedure that is both accurate and efficient to evaluate.