Trajectory tracking control of quadcopter UAV based on MPC iterative learning
WANG Juan
ZHAO Cheng-jing
YANG Zhi-jie
Abstract：This paper investigates the trajectory tracking problem of quadcopter UAV under external disturbances and proposes an iterative learning control method based on MPC.Firstly,design the MPC controller as the feedback controller of the quadcopter UAV system,and introduce prediction error into the MPC feedback loop for feedback correction.On this basis,the iterative learning controller is designed as the feedforward controller of the quadcopter UAV system.Employing hyperbolic tangent function optimizes the learning gain of the iterative learning controller,which can reduce the number of iterations and improve trajectory tracking accuracy.The composite control of MPC feedback and iterative feedforward can effectively overcome the impact of external disturbances and achieve high-precision trajectory tracking of UAV.Finally,the feasibility and effectiveness of the proposed method are verified through the simulation.By the experimental comparison,the method designed in this paper has higher tracking accuracy and strong robustness.
Keywords：model predictive controliterative learningquadcopter UAVtrajectory tracking
Publication Date：2025-12-30
Online Publishing Date：2026-03-05(First online date of this platform, not the publication date of the document)
Pages：7( 2528-2534 )