BC-NMPC: Battery-Constrained NMPC with Propulsion Prediction and Replanning for High-Speed Flight
This work integrates battery and propulsion models into a Nonlinear Model Predictive Controller (NMPC) to predict voltage, current, power, and maximum thrust in real-time. A novel multivariate polynomial model characterizes these electro-mechanical systems based on State of Charge (SOC), allowing the controller to plan for depleting thrust during high-speed flight. This results in improved trajectory tracking and collision-free performance.