Safe Model Predictive Control for Quadrotor UAVs

This paper investigates the safe model predictive tracking control problem of quadrotor UAVs. To ensure safety, a hierarchical model predictive control (MPC) scheme is proposed. Firstly, the outer loop adopts MPC scheme to generate nominal trajectories, and applies safety constraints and stability requirements to the nominal system through control barrier functions (CBFs) and control Lyapunov functions (CLFs). Secondly, a high-performance tracking controller is synthesized for the inner loop, which can ensure the quadrotor tracks the nominal signal without violating safety constraints. Numerical simulations have verified the effectiveness and advantages of the proposed scheme.