Trajectory Tracking

Trajectory tracking closes the loop on full-state references under nonlinear rigid-body dynamics. This chapter compares model-based and sampling-based controllers for aggressive and robust flight.

Core Questions

• How should model mismatch be managed online?
• What is the cost of long horizons in constrained control?
• When does sample-based control outperform linearized feedback?

Algorithms

• Feedback Linearisation
• NMPC
• MPPI

Prerequisites

• Nonlinear state-space modeling
• Optimal control and receding horizon ideas
• Real-time numerical optimization constraints