Nonlinear Model Predictive Control of Tiltrotor Quadrotors with Feasible Control Allocation

Zeinab Shayan, Jann Cristobal, Mohammadreza Izadi +3

This paper presents a new flight control framework for tilt-rotor multirotor uncrewed aerial vehicles (MRUAVs). Tiltrotor designs offer full actuation but introduce complexity in c…