ENMPC Versus PID Control Strategies Applied to a Quadcopter

  • Nadia MiladiEmail author
  • Taoufik Ladhari
  • Salim Hadj Said
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 270)


Trajectory tracking is a necessary function for an unmanned aerial vehicle (UAV). In this context, we investigate in this chapter the path following problems for the quadcopter dynamic system, which is coupled, underactuated and highly nonlinear. We adopt the Newton–Euler approach to describe the quadcopter model. Two continuous time strategies of control are presented to solve this issue: the technique based on cascade proportional-integral-derivative (PID) controllers and the explicit nonlinear model predictive control (ENMPC) technique. A comparison through numerical simulations, between the performances resulting from these two control strategies in terms of helical trajectory tracking, shows that the ENMPC technique is more effectiveness than the technique based on the PID controllers.


Quadcopter system Cascade PID Explicit NMPC Trajectory tracking 


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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  • Nadia Miladi
    • 1
    Email author
  • Taoufik Ladhari
    • 1
  • Salim Hadj Said
    • 1
  1. 1.Departement of Electrical EngineeringNational Engineering School of Monastir, LA2SEMonastirTunisia

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