This paper presents the integration and experimental validation of advanced control strategies for quadcopters based on Lie groups. We build upon recent theoretical developments on SE2(3)-based controllers and introduce a novel SE2(3) model predictive controller (MPC) that combines the predictive capabilities and constraint-handling of optimal control with the geometric properties of Lie group formulations. We evaluated this MPC against a state-of-the-art SE2(3)-based LQR approach and obtained comparable performance in simulation. Both controllers where also deployed on the Quanser QDrone platform and compared to each other and an industry standard control architecture. Results show that the SE_2(3) MPC achieves superior trajectory tracking performance and robustness across a range of scenarios. This work demonstrates the practical effectiveness of Lie group-based controllers and offers comparative insights into their impact on system behaviour and real-time performance

翻译：本文介绍了基于李群的四旋翼无人机先进控制策略的集成与实验验证。我们基于SE2(3)控制器的最新理论进展，提出了一种新型SE2(3)模型预测控制器（MPC），该控制器将最优控制的预测能力、约束处理特性与李群公式的几何性质相结合。我们在仿真中将该MPC与最先进的基于SE2(3)的LQR方法进行比较，获得了相当的性能表现。两种控制器均在Quanser QDrone平台上部署，并与工业标准控制架构进行相互比较。结果表明，SE2(3) MPC在多种场景下实现了更优的轨迹跟踪性能和鲁棒性。本研究证明了基于李群控制器的实际有效性，并对其系统行为与实时性能的影响提供了对比性见解。