Time-Optimal Trajectory Planning and Model Predictive Control of Morphing Quadrotors

Abstract

Morphing quadrotors offer enhanced maneuverability and adaptability in confined spaces, while their structural variations pose challenges to trajectory planning and control. This paper presents a time-optimal trajectory planning and model predictive control framework for the morphing quadrotor. The trajectory generator computes time-optimal trajectories by dynamically adjusting arm lengths, allowing the quadrotor to traverse waypoints as quickly as possible while satisfying constraints. The generated trajectory is then brought into the designed dual-loop model predictive control architecture to achieve autonomous flight, in which the outer loop tracks the desired trajectory and the inner loop synchronously regulates attitude and arm length of the morphing quadrotor. Experimental validation demonstrates that the proposed framework achieves high-precision trajectory tracking, robust dynamic response, and superior adaptability in confined environments.