A Backstepping Approach to Nonlinear Model Predictive Horizon for Optimal Trajectory Planning

This paper presents a novel trajectory planning approach for nonlinear dynamical systems; multi-rotor drone, built on an optimization-based framework proposed by the authors named Nonlinear Model Predictive Horizon. In present work, this method is integrated with Backstepping Control technique. The goal to remove non-convexity of optimization problem in order provide real-time computation reference trajectories vehicle which respects its dynamics while avoiding sensed static and dynamic obstacles environment. Our applied two models drones demonstrate flexibility. Several simulation hardware flight experiments are presented validate design performance improvement over earlier work.