alexberndt / quadrotor-pendulum

A model predictive control (MPC) design and implementation for a quadrotor balancing an inverted pendulum. Includes a stability analysis and an estimate of the region-of-recursive-stability.

Quadrotor-Balancing-Pendulum-MPC

A model predictive approach to balancing a pendulum using a quadrotor

Reference MPC

Run the following scripts

reference_LQR.m 

reference_MPC.m

Output MPC with Disturbance Rejection

Run the following scripts

output_MPC_w_offset.m

Adaptive MPC

Run the following scripts

adaptive_LQR.m

adaptive_MPC.m

Stability Analysis

stability_analysis.m