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Precise trajectory tracking is a crucial property for \acp{MAV} to operate incluttered environment or under disturbances. In this paper we present adetailed comparison between two state-of-the-art model-based control techniquesfor \ac{MAV} trajectory tracking. A classical \ac{LMPC} is presented andcompared against a more advanced \ac{NMPC} that considers the full systemmodel. In a careful analysis we show the advantages and disadvantages of thetwo implementations in terms of speed and tracking performance. This isachieved by evaluating hovering performance, step response, and aggressivetrajectory tracking under nominal conditions and under external winddisturbances.

Linear vs Nonlinear MPC for Trajectory Tracking Applied to Rotary Wing Micro Aerial Vehicles