MPC drone with flight constraints
This example is a quadcopter model controlled by an MPC controller.
To run the program, use simulate.m.
The MPC controller corresponds to the optimize_trajectory.m, which has a restriction in theta.
The controller is implemented with fmincon, which has a cost function and a corresponding nonlinear
constraints function called discretization.m This last function uses timestep_euler to implement the dynamics constraint.
The quadcopter_ode.m corresponds to the model equations. The simulation is made with the simulate_timestep.m
that uses the quadcopter_ode.m
To see a plot of the states and control use simulate_states.m, that run states.mat and control.mat.