Title:

EMPC-Based Flight Controller Design for a Quadrotor with Unbalanced Payload

Model predictive control (MPC) is widely recognized for its effectiveness in control, but its computational complexity for solving the online optimization problem, particularly for fast systems such as flight control, poses a challenge. To address this, we introduce an innovative inner-outer loop control structure that incorporates explicit MPC (EMPC) which can transfer the overall optimization process offline. Additionally, integral sliding mode control (ISMC) is integrated to mitigate the effects of unbalanced payloads.

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