[2211.06762] Adaptive Nonlinear MPC for Trajectory Tracking of An Overactuated Tiltrotor Hexacopter Skip to main content Search Submit Donate Log in Search arXiv Press Enter to search · Advanced search Computer Science > Robotics arXiv:2211.06762 (cs) This paper has been withdrawn by Yueqian Liu [Submitted on 12 Nov 2022 ( v1 ), last revised 30 Apr 2026 (this version, v2)] Title: Adaptive Nonlinear MPC for Trajectory Tracking of An Overactuated Tiltrotor Hexacopter Authors: Yueqian Liu , Fengyu Quan , Haoyao Chen View a PDF of the paper titled Adaptive Nonlinear MPC for Trajectory Tracking of An Overactuated Tiltrotor Hexacopter, by Yueqian Liu and 2 other authors No PDF available, click to view other formats Abstract: Omnidirectional micro aerial vehicles (OMAVs) are more capable of doing environmentally interactive tasks due to their ability to exert full wrenches while maintaining stable poses. However, OMAVs often incorporate additional actuators and complex mechanical structures to achieve omnidirectionality. Obtaining precise mathematical models is difficult, and the mismatch between the model and the real physical system is not trivial. The large model-plant mismatch significantly degrades overall system performance if a non-adaptive model predictive controller (MPC) is used. This work presents the $\mathcal{L}_1$-MPC, an adaptive nonlinear model predictive controller for accurate 6-DOF trajectory tracking of an overactuated tiltrotor hexacopter in the presence of model uncertainties and external disturbances. The $\mathcal{L}_1$-MPC adopts a cascaded system architecture in which a nominal MPC is followed and augmented by an $\mathcal{L}_1$ adaptive controller. The proposed method is evaluated against the non-adaptive MPC, the EKF-MPC, and the PID method in both numerical and PX4 software-in-the-loop simulation with Gazebo. The $\mathcal{L}_1$-MPC reduces the tracking error by around 90% when compared to a non-adaptive MPC, and the $\mathcal{L}_1$-MPC has lower tracking errors, higher uncertainty estimation rates, and less tuning requirements over the EKF-MPC. We will make the implementations, including the hardware-verified PX4 firmware and Gazebo plugins, open-source at this https URL . Comments: (1) Eq. (10) sign error, inconsistent with Eq. (14). (2) Eq. (15) spurious Coriolis term (skips transport theorem). (3) typo before Eq. (21): _Bω_dot_EKF?_Bτ_dot_EKF. (4) Sec. IV comparison lacks systematic tuning and does not support its claims. (5) the open-source release at this http URL will not happen Subjects: Robotics (cs.RO) Cite as: arXiv:2211.06762 [cs.RO] (or arXiv:2211.06762v2 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2211.06762 Focus to learn more arXiv-issued DOI via DataCite Submission history From: Yueqian Liu [ view email ] [v1] Sat, 12 Nov 2022 22:55:35 UTC (4,940 KB) [v2] Thu, 30 Apr 2026 08:54:40 UTC (1 KB) (withdrawn) Full-text links: Access Paper: View a PDF of the paper titled Adaptive Nonlinear MPC for Trajectory Tracking of An Overactuated Tiltrotor Hexacopter, by Yueqian Liu and 2 other authors Withdrawn No license for this version due to withdrawn Current browse context: cs.RO < prev | next > new | recent | 2022-11 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar export BibTeX citation Loading... BibTeX formatted citation × loading... Data provided by: Bookmark Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer ( What is the Explorer? ) Connected Papers Toggle Connected Papers ( What is Connected Papers? ) Litmaps Toggle Litmaps ( What is Litmaps? ) scite.ai Toggle scite Smart Citations ( What are Smart Citations? ) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv ( What is alphaXiv? ) Links to Code Toggle CatalyzeX Code Finder for Papers ( What is CatalyzeX? ) DagsHub Toggle DagsHub ( What is DagsHub? ) GotitPub Toggle Gotit.pub ( What is GotitPub? ) Huggingface Toggle Hugging Face ( What is Huggingface? ) ScienceCast Toggle ScienceCast ( What is ScienceCast? ) Demos Demos Replicate Toggle Replicate ( What is Replicate? ) Spaces Toggle Hugging Face Spaces ( What is Spaces? ) Spaces Toggle TXYZ.AI ( What is TXYZ.AI? ) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower ( What are Influence Flowers? ) Core recommender toggle CORE Recommender ( What is CORE? ) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs . Which authors of this paper are endorsers? | Disable MathJax ( What is MathJax? ) We gratefully acknowledge support from our major funders , member institutions , , and all contributors. About · Help · Contact · Subscribe · Copyright · Privacy · Accessibility · Operational Status (opens in new tab) Major funding support from