A tracking error control approach for model predictive position control of a quadrotor with time varying reference

In mobile robotic applications, a common problem
is the following of a given trajectory with a constant velocity.
Using standard model predictive control (MPC) for tracking
of time varying trajectories leads to a constant tracking error.
This problem is modelled in this paper as quadrotor position
tracking problem. The presented solution is a computationally
light-weight target position control (T PC), that controls the
tracking error of MPCs for constantly moving targets. The
proposed technique is assessed mathematically in the Laplace
domain, in simulation, as well as experimentally on a real
quadrotor system.