A parametrization of state and input trajectories is used to approximate an infinite-horizon optimal control problem encountered in model predictive control. The resulting algorithm is discussed with respect to trajectory tracking, including the problem of generating feasible trajectories. In order to account for unmodeled repeatable disturbances an iterative learning scheme is applied, and as a result, the tracking performance can be improved over consecutive trials. The algorithm is applied to an unmanned aerial vehicle and shown to be computationally efficient, running onboard at a sampling rate of 100 Hz during the experiments.
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