Particle filter-model predictive control of quadcopters

In recent years, extensive research has been conducted on the design and control of unmanned aerial vehicles having multiple propellers, called multicopters (especially quad-copters, which has four propellers). In this paper, we propose a method for applying particle filter-model predictive control that can take disturbance and measurement noise into consideration explicitly to the flight control of a quadcopter. Moreover, the validity of the proposed method is verified by simulation.