LoL-NMPC: Low-Level Dynamics Integration in Nonlinear Model Predictive Control for Unmanned Aerial Vehicles

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00387312" target="_blank" >RIV/68407700:21230/25:00387312 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/IROS60139.2025.11246583" target="_blank" >https://doi.org/10.1109/IROS60139.2025.11246583</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS60139.2025.11246583" target="_blank" >10.1109/IROS60139.2025.11246583</a>

Result language
angličtina
Original language name
LoL-NMPC: Low-Level Dynamics Integration in Nonlinear Model Predictive Control for Unmanned Aerial Vehicles
Original language description
In this paper, we address the problem of tracking high-speed agile trajectories for Unmanned Aerial Vehicles (UAVs), where model inaccuracies can lead to large tracking errors. Existing Nonlinear Model Predictive Controller (NMPC) methods typically neglect the dynamics of the low-level flight controllers such as underlying PID controller present in many flight stacks, and this results in suboptimal tracking performance at high speeds and accelerations. To this end, we propose a novel NMPC formulation, LoL-NMPC, which explicitly incorporates low-level controller dynamics and motor dynamics in order to minimize trajectory tracking errors while maintaining computational efficiency. By leveraging linear constraints inside low-level dynamics, our approach inherently accounts for actuator constraints without requiring additional reallocation strategies. The proposed method is validated in both simulation and real-world experiments, demonstrating improved tracking accuracy and robustness at speeds up to 98.57 km h-1 and accelerations of 3.5 g. Our results show an average 21.97 % reduction in trajectory tracking error over standard NMPC formulation, with LoL-NMPC maintaining real-time feasibility at 100 Hz on an embedded ARM-based flight computer.
Czech name
—
Czech description
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Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ISBN
979-8-3315-4393-8
ISSN
2153-0858
e-ISSN
2153-0866
Number of pages
8
Pages from-to
1186-1193
Publisher name
Institute of Electrical and Electronics Engineers
Place of publication
Beijing
Event location
Hangzhou
Event date
Oct 19, 2025
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
001727409500126

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