Jan Hrebec

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 contro