Nonlinear Model Predictive Control for Multirotor

2021 7 27
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I need help for do the simulation using the Nonlinear Model Predictive Control for Multirotr. With all the equation setup already in the "Nonlinear Model Predictive Control for Aerial Manipulation". I need to run the simulation for the h1 to h4 equation in the paper. Would you guys help me on it please ?
Thank you

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