Experiment Video for Model Predictive Path-Following Control of a Quadrotor

The objective is to fly along the lemniscate path. The lemniscate is defined as a time-independent geometric curve, parameterized by a so-called timing law.

Based on this, the MPPFC generates a dynamically feasible trajectory from the provided path in accordance with state and input constraints. Consequently, the generated trajectory is then tracked by the Quadrotor by the MPPFC. Therefore, the MPPFC combines trajectory generation and tracking into a single framework.