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This paper presents a new Lyapunov-based nonlinear model predictivecontroller (LNMPC) for the attitude control problem of unmanned aerial vehicles(UAVs), which is essential for their functioning operation. The controller isdesigned based on a quadratic cost function integrating UAV dynamics and systemconstraints. An additional contraction constraint is then introduced to ensureclosed-loop system stability. That constraint is fulfilled via a Lyapunovfunction derived from a sliding mode controller (SMC). The feasibility andstability of the LNMPC are finally proved. Simulation and comparison resultsshow that the proposed controller guarantees the system stability andoutperforms other state-of-the-art nonlinear controllers such as thebackstepping controller (BSC) and SMC. In addition, the proposed controller canbe integrated into an existing UAV model in the Gazebo simulator to performsoftware-in-the-loop tests. The results show that the LNMPC is better than thebuilt-in PID controller of the UAV, which confirms the validity andapplicability of our proposed approach.

Lyapunov-based Nonlinear Model Predictive Control for Attitude Trajectory Tracking of Unmanned Aerial Vehicles