Nonlinear Receding Horizon Guidance of a Thrust-Vectoring Quadrotor Under Control Allocation Constraints

Resumo

The present work deals with the guidance of a pre-stabilized thrust-vectoring quadrotor, which is re-
quired to be steered from its initial condition to a given state-based wayset. To tackle this problem, we adopt a

receding horizon strategy based on a constrained nonlinear programming, whose crucial constraints are the control
mapping equation and the actuator limits. The online optimization solution is calculated using sequential quadratic
programming. The proposed method is evaluated using computer simulation, which shows its effectiveness.