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LoL-NMPC: Low-Level Dynamics Integration in Nonlinear Model Predictive Control for Unmanned Aerial Vehicles
Parakh M. Gupta, Ond\v{r}ej Proch\'azka, Jan H\v{r}ebec, Matej Novosad, Robert P\v{e}ni\v{c}ka, Martin Saska
https://arxiv.org/abs/2506.02169

LoL-NMPC: Low-Level Dynamics Integration in Nonlinear Model Predictive Control for Unmanned Aerial Vehicles
In this paper, we address the problem of tracking high-speed agile trajectories for Unmanned Aerial Vehicles(UAVs), where model inaccuracies can lead to large tracking errors. Existing Nonlinear Model Predictive Controller(NMPC) methods typically neglect the dynamics of the low-level flight controllers such as underlying PID controller present in many flight stacks, and this results in sub-optimal tracking performance at high speeds and accelerations. To this end, we propose a novel NMPC formul…