farhan-haroon / linear-mpc-on-quadrotors

I demonstrate a methodology to implement Linear MPC on a non-Linear system of Quadrotor. While the underlying non-linear dynamics are encapsulated, the high-level control is employed to achieve a Linear control system to use a Linear MPC controller.

Linear MPC on Quadrotors

This repositiory contains the SimuLink Model and the necessary Matlab .mat file to implement Linear MPC on a PixHawk based Quadrotor platform. The model employs the Model Predictive Control, ROS, and Control Systems toolboxes so make sure they are included with your MATLAB distribution.

Here is a picture of the Model for reference:

Working of the Model

The model employs the ROS Toolbox and uses the Publish and Subscribe blocks to get and receive data from the roscore.

• Subscribe: The Subscribe block subscribes to the /mavros/vision_pose/pose