Abstract:Aiming at the problem of path tracking of quad-rotor UAV, a controller based on variable aggregate predictive control was designed. This paper first builds a predictive model based on the state space model of the quad-rotor UAV. Then, the controller is designed into a three-segment optimization sequence using a piecewise aggregation strategy when designing the controller to reduce the amount of optimization calculations and reduce the optimization conservativeness. In order to further enhance the stability of the system, the controller introduces a terminal cost function and terminal constraints. Finally, the dynamics model of the quad-rotor UAV is used as the controlled object for simulation verification. The results show that the controller can make the quad-rotor UAV in all three axes achieve a good path tracking effect. Compared with traditional methods, this predictive control strategy based on variable aggregation can reduce the amount of online optimization and is more suitable for the application of quad-rotor UAV flight control chips.