2018 Volume 31 Issue 4 Pages 150-157
In this paper, we consider a target tracking problem of a multicopter. The target is assumed to move along a path that is unknown for the multicopter. We formulate this problem as a nonlinear receding-horizon differential game problem and solve the problem with a real-time algorithm for nonlinear model predictive control. Some simulation results show a satisfactory tracking performance of the proposed method.