Accurate trajectory tracking is an essential characteristic for the safe navigation of a quadrotor in cluttered or disturbed environments. In this paper, we present in detail two state-of-the-art model-based control frameworks for trajectory tracking: the Linear Model Predictive Controller (LMPC) and the Nonlinear Model Predictive Controller (NMPC). Additionally, the kinematic and dynamic models of the quadrotor are comprehensively described. Finally, a simulation system is implemented to verify feasibility, demonstrating the effectiveness of both controllers.

翻译：精确的轨迹跟踪是四旋翼飞行器在复杂或受扰环境中安全导航的关键特性。本文详细介绍了两种先进的基于模型的轨迹跟踪控制框架：线性模型预测控制器（LMPC）与非线性模型预测控制器（NMPC）。同时，文中全面阐述了四旋翼飞行器的运动学与动力学模型。最后，通过构建仿真系统验证了方案的可行性，并证明了两种控制器的有效性。