Continuous Constrained Predictive Control for Quadrotor Trajectory Tracking with Obstacle Avoidance

In this study, a continuous constrained dual-loop predictive control method is proposed for trajectory tracking of quadrotor unmanned aerial vehicle, considering both physical and environmental restrictions. Using the predictive approach, the operational constraints of the quadrator are formulated and incorporated into an optimal control framework. The constrained control law is then derived by solving an equivalent optimization problem. The stability of the constrained closed-loop system is analyzed using Lyapunov's second method, and the system's response bounds are determined in terms of prediction time. The effectiveness of the proposed approach is validated through computer simulations. A comparative analysis with existing literature demonstrates that the proposed method efficiently combines trajectory tracking and obstacle avoidance while remaining computationally feasible.