MPC-Based Trajectory Tracking for a Quadrotor UAV with Uniform Semi-Global Asymptotic Stability Guarantees

arXiv:2603.27576 · eess.SY, cs.SY · Submitted 2026-03-29 · Read on arXiv

eess.SY, cs.SY

Submitted: 2026-03-29

Updated: 2026-09-18

Comments: 10 pages, 3 figures

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Closed-Loop System — 9× in this paper · explained in 4 episodes
• Hybrid System — 2× in this paper · explained in 2 episodes
• Admissibility — 1× in this paper · explained in 2 episodes
• Almost Global Asymptotic Stability — 1× in this paper · explained in 1 episode
• Lyapunov function — 1× in this paper · explained in 2 episodes
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes

Sources

• High-Performance Model Predictive Control for Quadcopters with Formal Stability Guarantees

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