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A model predictive control (MPC) design and implementation for a quadrotor balancing an inverted pendulum. Includes a stability analysis and an estimate of the region-of-recursive-stability.

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alexberndt/quadrotor-pendulum

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Quadrotor-Balancing-Pendulum-MPC

A model predictive approach to balancing a pendulum using a quadrotor

Reference MPC

Run the following scripts

reference_LQR.m 
reference_MPC.m

Output MPC with Disturbance Rejection

Run the following scripts

output_MPC_w_offset.m

Adaptive MPC

Run the following scripts

adaptive_LQR.m
adaptive_MPC.m

Stability Analysis

stability_analysis.m

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A model predictive control (MPC) design and implementation for a quadrotor balancing an inverted pendulum. Includes a stability analysis and an estimate of the region-of-recursive-stability.

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matlab control-systems quadrotor model-predictive-control stability-analysis

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