{
  "abstract": "Fast online optimization is essential for nonlinear model predictive control (NMPC) on resource-limited aerial platforms. This paper presents an analytical-derivative NMPC solver for quadrotor trajectory tracking. For the state-affine translational model with held thrust and attitude commands, fourth-order Runge--Kutta integration yields an exact discrete-time prediction map. Forward--backward difference equations provide the gradient and exact Hessian of the finite-horizon cost condensed over the input sequence. These derivatives drive a nested optimal-control-based direction recursion, while a shifted warm start reuses the preceding solution. The resulting solver addresses the unconstrained tracking problem without a general-purpose nonlinear programming package. Gazebo experiments show comparable tracking accuracy to iLQR and two acados SQP configurations, with mean solver-time speedups of $1.97$--$2.30$. In onboard flight tests, the mean solver time is $0.3121$\\,ms, corresponding to speedups of $3.37$--$5.77$ over the same baselines. The largest measured solver time is $3.7754$\\,ms within a $20$-ms control period. These measurements cover the numerical solver and exclude estimation, communication, and command publication.",
  "abstract_shown": true,
  "affiliations": [],
  "article_type": null,
  "arxiv": "2611.01628",
  "author_total": 4,
  "authors": [
    {
      "name": "Lv Shichao"
    },
    {
      "name": "Lv Chuanzhi"
    },
    {
      "name": "Wang Hongxia"
    },
    {
      "name": "Huanshui Zhang"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/4cy6bsxdyafxv.bib",
  "cited_by": 0,
  "doi": "10.48550/arxiv.2611.01628",
  "fulltext_url": null,
  "id": "4cy6bsxdyafxv",
  "issns": [],
  "landing_url": "https://arxiv.org/abs/2611.01628",
  "language": null,
  "licence": "CC-BY-4.0",
  "licence_label": "CC BY 4.0",
  "licence_source": "article",
  "licence_url": "http://creativecommons.org/licenses/by/4.0/",
  "metadata_licence": "CC0-1.0",
  "native_subjects": [
    [
      "arxiv",
      "math.OC"
    ]
  ],
  "openalex": null,
  "pdf_url": "https://arxiv.org/pdf/2611.01628",
  "pmcid": null,
  "pmid": null,
  "published": "2026-11-01",
  "publisher": null,
  "ris": "https://research.draconitic.com/paper/4cy6bsxdyafxv.ris",
  "sources": [
    {
      "first_seen": "2026-11-03T12:21:10Z",
      "native_id": "2611.01628",
      "source": "arxiv",
      "url": "https://arxiv.org/abs/2611.01628"
    }
  ],
  "subjects": [
    {
      "field": "mathematics",
      "origin": "arxiv:math.OC",
      "subfield": "optimisation-control"
    }
  ],
  "title": "OCP-Based Nonlinear Model Predictive Control for Quadrotor Trajectory Tracking",
  "title_text": "OCP-Based Nonlinear Model Predictive Control for Quadrotor Trajectory Tracking",
  "type": "preprint",
  "updated_at": "2026-11-05T15:20:22Z",
  "url": "https://research.draconitic.com/paper/4cy6bsxdyafxv",
  "venue": "arXiv",
  "versions": []
}